On the second-order sliding mode control of nonlinear systems with uncertain control direction

This note deals with the implementation of a second-order sliding mode control algorithm for a class of nonlinear systems in which the sign of the high-frequency gain, though constant, is unknown. A specific second-order sliding mode control algorithm, the ``Suboptimal'' algorithm, is properly modified in order to face the uncertainty in the control direction. It is shown that after a finite time the uncertain sign is identified and the standard finite time convergence takes place from that time on. Simulation results are provided