Abstract
As we have seen, classic sliding modes provide robust and high-accuracy solutions for a wide range of control problems under uncertainty conditions. However, two main restrictions remain. First, the constraint to be held at zero in conventional sliding modes has to be of relative degree 1, which means that the control needs to explicitly appear in the first time derivative of the constraint.
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Shtessel, Y., Edwards, C., Fridman, L., Levant, A. (2014). Second-Order Sliding Mode Controllers and Differentiators. In: Sliding Mode Control and Observation. Control Engineering. Birkhäuser, New York, NY. https://doi.org/10.1007/978-0-8176-4893-0_4
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