Accelerated High-Order MIMO Sliding Mode control

Multi-Input Multi-Output High-Order Sliding-Mode (HOSM) control is designed, provided the system features well-defined vector relative degree, and the corresponding matrix of the high-order output partial derivatives with respect to controls is approximately proportional to a known nominal matrix. A finite-time-stable HOSM with predefined convergence rate is obtained. Asymptotic accuracies are calculated in the presence of noises and discrete sampling.

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