Continuous sliding-mode control for singular systems: CSM for Singular systems

Singular systems with matched Lipschitz perturbations and uncertainties are considered in this paper. Since continuous solutions of an impulse-free singular system require continuous input signals, a two-step continuous sliding-mode control strategy to compensate matched Lipschitz perturbations and uncertainties in singular systems is proposed. Our suggested methodology is tested in a singular representation of a DC motor pendulum of relative degree two. The performance of the proposed strategy is assessed by comparing the accuracy, in both cases, with and without considering small noise in the output, obtained through other continuous sliding-mode control, and reconstruction/compensation of perturbations and uncertainties techniques.