On the sliding mode control of multivariable nonlinear systems

Sliding mode control of multivariable nonlinear systems is addressed, from the perspective of linear differential algebra, for a special but large class of linearizable systems known as differentially flat systems. Essential orders and differential flatness are shown to be, a relevant concept and a sensible requirement respectively, associated with the possibilities of designing static or dynamical sliding mode multivariable feedback regulators for nonlinear systems.

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