Sliding mode control of uncertain systems: a singular perturbation approach

In this paper we consider a nonlinear control system affectedby deterministic uncertainty and described by a system of ordinarydifferential equations. The uncertainty is modelled by a multivaluedmap whose t-measurable and x-Lipschitz selections representthe possible system dynamics of the uncertain system. We proposea dynamical feedback control design, based on the singular perturbationtheory, which allows all the possible system trajectories correspondingto the system dynamics to have the same prescribed behaviour.Specifically, given a manifold K of the state space, definedas the zeros of a smooth map, the proposed control steers andthen holds, during finite or infinite time intervals, any possiblesystem trajectory to any prescribed neighbourhood of K. A resultensuring the exact attainability of K is also provided. Someexamples illustrating the obtained results are presented.