Sliding mode regulator design

The Error Feedback Sliding Mode Regulation Problem has been introduced. Solution conditions are derived for linear systems and different classes of nonlinear systems including systems presented in the Regular and NBC-forms. In particular, the combination of VSS and block control techniques allows straightforward solutions to be obtained, specially when compared to the classical solutions of the error feedback regulator problem. Additionally the sliding mode based controller achieves robustness with respect to the uncertainty.