A DYNAMICAL VARIABLE STRUCTURE CONTROL STRATEGY IN ASYMPTOTIC OUTPUT TRACKING PROBLEMS

In this article, using Fliess' General- ized Observability Canonical Form (GOCF), a dynamical discontinuous feedback strategy of the sliding mode type is presented for asymp- totic output tracking problems in nonlinear dynamical systems. A truly effective smoothing of the sliding mode controlled responses is possi- ble, while substantially reducing the chattering for the control input.