An improved second-order sliding-mode control scheme robust against the measurement noise

In this note, the second-order sliding-mode control problem is tackled by explicitly taking into account the presence of measurement error with unknown upper bound [delta]. Under sensible assumptions regarding the uncertain dynamics of a broad class of nonlinear plants, a new switching controller is proposed guaranteeing a sliding accuracy of order [OMICRON] ([delta]). Simulations highlight the robustness and good performance of the proposed approach, and confirm the expected precision order. Index Terms--Measurement noise, nonlinear systems, second-order sliding modes, uncertain systems.