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MATCHING CONDITIONS
1.As pointed out by Drazenovic (1969), a salient feature of sliding modecontrol is that it is completely robust to matched uncertainties that lie in the rangespace of the input matrix. It is certainly true that many systems can be classifiedunder this category. For example, the rigid robot is one of them. However, thereare even more systems which unfortunately are affected by mismatcheduncertainties.2.The Model Of The SystemThe multi input systems described with the set of n differential first order equations will be discussed.
.
 x Ax Bu DF 
 
(4.1)X n state vector-column. It is understood that all its elements areavailable for forming a control function.B (n×m) constant matrix, with linearly independent columnsUm control vector-column. Its elements, called control functions, arelinearly independent.D (n ×L) matrix with linearly independent columnsF L vector-column of disturbances, with linearly independentelementsA (n × m) matrix4. Equations Of The Motion In The Sliding ModeThe sliding surface is defined by
Sx
  
(4.2)The sliding condition
 
0
  
(4.3)
  
is given by substituting equation (4.1) as
.
S x SAx SBu SDF 
  
(4.4)If the matrix S
B
is nonsingular, u, is determinable in a unique manner as:
1
( ) ( )
u SB SAx SDF 
(4.5)Substituting this value of u in (4.1), the sliding mode equations are obtained as:
.1 1
( ( ) ) ( ( ) )
 x I B SB S Ax I B SB S DF 
(4.6)where I is the unity matrix.5.The Disturbance Influence On The Sliding Mode MotionIt is seen from (4.6) that disturbances F, in general, act in equations of the slidingmode motion. There are two sorts of disturbance influences on that kind of motion:(a) the values of disturbances up to beginning of the sliding mode whichdetermine the initial conditions of the sliding mode.(b) the values of the disturbances after the sliding mode begins, but only if F acts in (4.6).Let the following equation be satisfied:
1
( ( ) ) 0
 I B SB S DF 
(4.7)The disturbance F is no longer present in the sliding mode equations, so that thetrajectory of the sliding mode motion depends only on the values of disturbancesup to the beginning of the sliding mode via the initial conditions. If the preliminarypart of the motion is shortened by a suitable choice of control function, the time of disturbance influence, and by that its effect on the initial conditions as well, can
 
be remarkably decreased, so that the whole system exhibits a low sensitivity todisturbances.Equation (4.7) can be satisfied for all the possible values of F, if all the columnsof D are linear combinations of the columns of B i.e.,
 DF B
(4.8)This requirement is represented by the equationrank [B, D] = rank B (4.9)where [B, D] is a matrix composed of all the columns of D and B.
Sliding Mode Control of Linear Systems withMismatched Uncertainties*CHI-MAN KWANt
In this paper we present some results to
explicitly 
tackle the mismatcheduncertainties. We shall
describe
two schemes to handle mismatcheduncertainties. Although the design procedures are quite similar, the assumptionsand stability results are quite different. Our new dynamical approach of slidingvariable formulation introduces on-line estimation capability to the sliding variableso that, when the system is in sliding mode, an adaptive reference signal isrealized which can
explicitly 
deal with mismatched uncertainties. Note that whenthe system is in sliding mode, the system behavior is completely determined bythe reduced-order system. Hence we can allow (lb) to be highly nonlinear andtime-varying. This is a result of the well-known model reduction capability of sliding control.The main contribution of this note is to resolve one of the is major problems of sliding mode control: how to counteract mismatched uncertainties
explicitly? 
The reasoning behind our new method is the belief that if we want to increaserobustness of systems with mismatched uncertainties we must provide somedynamics in the sliding variable so that when the system is in sliding mode, these
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