Decentralized variable structure model-following adaptive control for interconnected systems with series nonlinearities

The problem of model-referenced control for interconnected systems with series nonlinearities is investigated. By applying variable structure control theory, we propose a controller which is able to drive the error subsystem between the model state and the plant state to zero. The presented variable structure controller ensures the global reaching condition of the sliding mode of the error system. It shows that the uncertain nonlinear dynamic system also possesses the property of insensitivity to uncertainties and disturbances as a linear system does. Furthermore, the sliding mode can be designed to converge within a specified exponential speed.