Fractional sliding mode control

Fractional sliding mode control is a control technique for MIMO plants that can be linear or non-linear. It is expedient to consider first the case in which the plant is SISO and commensurable (in section 11.1), and then generalise the results for noncommensurable plants (in section 11.2), commensurable MIMO plants (in section 11.3) and non-commensurable MIMO plants (in section 11.4).