Stabilization of a class of nonlinear systems with saturating actuators via sliding mode control

This paper proposes the use of a time-varying sliding surface for the robust stabilization of a class of nonlinear uncertain SISO plants with saturating actuators. A constructive procedure for designing the surface is here proposed, and the robust asymptotical stabilization of the plant is guaranteed under mild assumptions, in the presence of bounded matched uncertainties. Simulation results have successfully validated theoretical achievements