Integral sliding mode control for nonlinear systems with matched and unmatched perturbations

Matteo Rubagotti, Antonio Estrada, Fernando Castaños, Antonella Ferrara, Leonid Fridman

Research output: Contribution to journalArticlepeer-review

169 Citations (Scopus)


We consider the problem of designing an integral sliding mode controller to reduce the disturbance terms that act on nonlinear systems with state-dependent drift and input matrix. The general case of both, matched and unmatched disturbances affecting the system is addressed. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it guarantees the minimization of the effect of the disturbance terms, which takes place when the matched disturbances are completely rejected and the unmatched ones are not amplified. A simulation of the proposed technique, applied to a dynamically feedback linearized unicycle, illustrates its effectiveness, even in presence of nonholonomic constraints.

Original languageEnglish
Article number5873128
Pages (from-to)2699-2704
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number11
Publication statusPublished - Nov 1 2011
Externally publishedYes


  • Disturbance reduction
  • integral sliding mode (ISM)
  • sliding mode control
  • uncertain systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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