# Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems

### Yasuhiko Mutoh, Nao Kogure

#### Abstract

This paper concerns with the sliding mode controller design method for linear time-varying systems. For this purpose, using the time-varying pole placement technique, the state feedback is designed first so that the time-varying closed loop system is equivalent to the standard linear time invariant system. Then, conventional sliding mode controller design method is applied to this time invariant system to obtain the control input. Finally, using the time-varying transformation matrix, this sliding mode control input is put back to the control input for the original system. In this paper, this controller is applied to the trajectory tracking control problem for nonlinear systems.

#### References

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#### Paper Citation

#### in Harvard Style

Mutoh Y. and Kogure N. (2014). **Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems** . In *Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,* ISBN 978-989-758-039-0, pages 492-498. DOI: 10.5220/0005019704920498

#### in Bibtex Style

@conference{icinco14,

author={Yasuhiko Mutoh and Nao Kogure},

title={Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems},

booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},

year={2014},

pages={492-498},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0005019704920498},

isbn={978-989-758-039-0},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,

TI - Sliding Mode Control of Linear Time-varying Systems - Application to Trajectory Tracking Control of Nonlinear Systems

SN - 978-989-758-039-0

AU - Mutoh Y.

AU - Kogure N.

PY - 2014

SP - 492

EP - 498

DO - 10.5220/0005019704920498