Dynamic controller design for a class of nonlinear uncertain systems subjected to time-varying disturbance

Inheriting advantages of both proportional-integral-derivative controller and standard sliding mode control theory, a synthetic controller design for a class of nonlinear system is presented. Regarding the architecture of the developed controller, it does not include model-based nominal control term so that the method eliminates complicated processes for system parameters identification and design of extra compensators. With simple gain tuning rules, the proposed control algorithm provides global asymptotical stability and is capable of alleviating discontinuous control switching considerably. A self-sustained oscillations phenomenon caused by the proposed control configuration is also further addressed. Simulations and experiments are conducted to verify the feasibility and applicability of the proposed approach.