Multi-Input Nonlinear Systems with Time and State Dependent Uncertain Control Direction

In this paper, the problem of control of nonlinear affine systems with uncertain time and state dependent high frequency gain matrix is addressed. The proposal is based on the use of the integral sliding mode control methodology in order to tackle the difficulties that arise for control of these class of systems. Via the introduction of integrators on the output of the dynamical system the validity of the results can be made global. A proposal for finite time transient altogether with a proposal for fixed time transient are presented.