Global tracking control for a class of uncertain nonlinear systems

In this paper the exponential tracking problem for a class of single-input nonlinear uncertain systems expressed in canonical Brunowsky form, with nonaffine dependence on the control, is addressed and solved by a second-order sliding-mode control methodology. The presence of unmodelled first-order actuators is considered in the design procedure, and the proposed controller provides for a global domain of attraction and counteracts the typical transient peaking of the state trajectory. Computer simulations confirm the feasibility of the proposed approach.