Global stabilization and peaking reduction for nonlinear uncertain systems with unmodelled actuator dynamics

The problem of the global stabilization of a class of nonlinear uncertain plants is considered. The analysis includes the uncertain actuator dynamics, and the global convergence of the system state to zero is ensured by a second order sliding mode control technique. The proposed approach is chattering-free, and it also reduces the peaking of the state that is typically shown during the transient phase by variable structure systems and other robust control schemes. Simulation examples highlight the good features of the proposed control law.