Application of a sliding mode technique to a high-order tracking problem

For several reasons, many nonlinear analytic systems can not be fully linearizable under static or dynamic state feedback, this may be due to the structure of the system or to a computational problem. However, these systems have a controllable linear approximation around some equilibrium set. This justifies many works concerning high-order approximation analysis and control around a point ([7. 8. 2. 6]) or manifold ([1, 3. 4. 5. 16]). Such techniques have also been implemented in [12].