Sliding Mode Control with Adaptive Gain for Nonlinear MIMO Systems

Abstract

"We present in this thesis, a study on the control of nonlinear monovariable and multivariable systems by sliding mode with adaptive gain whose objective is stabilization or the tracking of a desired trajectory. In the first part, we studied the stability and control of non-linear systems, In the second part, we presented the operating principle of sliding mode control for monovariables systems with adaptive gain, accompanied by an application to a non-linear system (the inverted pendulum). The application of sliding mode control with adaptive gain for multivariables systems on the inverted pendulum is the subject of the last part, the simulation results showed the robustness and stabilization of the control."