High order integral nested sliding mode control

This paper exposes a controller for the nonlinear systems in the block controllable form. This proposal guarantees exponential exact tracking in the presence of unknown matched and unmatched disturbances by means a combination of the block control method and integral terms designed with high-order sliding-modes algorithms. Both, matched and unmatched, disturbances are compensated by those integral continuous terms and the tracking is achieved with the design of a nominal control law.

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