Dynamic integral sliding mode control of nonlinear SISO systems with states dependent matched and mismatched uncertainties

In this paper, the authors propose a novel dynamic integral sliding mode controller for state dependent matched and unmatched uncertainties. An output feedback methodology based designed dynamic controller attenuate the effects of the both matched and unmatched uncertainties along with considerable reduction in chattering phenomena. An integral manifold is used which provides sliding mode without reaching phase and further enhances the robustness of the controller against uncertainties. A Lyapunov candidate is used for the stability analysis against uncertainties. The feasibility of the control law is illustrated via a kinematic car model.