A T-S Model-Based Sliding Mode Control for Nonlinear System
Lotfi Chaouech, Abdelkader Chaari
Transactions on Machine Design, Vol. 1, No. 2, 2013.
DOI: 
Link: http://www.dline.info/tmd/fulltext/v1n2/1.pdf
Abstract:
This paper proposes a new type of a sliding mode control algorithm based on Takagi-Sugeno fuzzy model for a class of nonlinear systems. Firstly, we choose the sliding surface which gives a good behaviour during sliding mode. It is formulated as an assignment of the poles of nonlinear system in a convex optimization area. Secondly, we design a nonlinear control law leading the state trajectory on the sliding surface in a finite time. Finally, a flexible joint manipulator is given to validate the theoretical results of our approach.