Robust Output Servo of a General Class of Uncertain Systems

This paper first presents a general integral-type sliding mode control design for output servo of non-linear uncertain system, second customizes a sliding surface suitable for output servo tasks of uncertain systems with linear-time-invariant (LTI) nominal plants and matched uncertainties. Interestingly, as applications, this paper applies the proposed sliding surface design to minimum-phase and nonminimum- phase LTI systems and obtains the same form of sliding surface as a previous paper [1]. This highlights the usability of the proposed general sliding surface design.