Universal SISO sliding-mode controllers with finite-time convergence

An universal controller is constructed, formulated in input-output terms only, which causes the output of any uncertain smooth SISO minimum-phase dynamic system with known relative degree to vanish in finite time. That allows exact tracking of arbitrary real-time smooth signals. Only one parameter is to be adjusted. The approach being based on higher-order finite-time-convergence sliding modes, the control can be made arbitrarily smooth, providing for the arbitrarily-high trackingaccuracy order with respect to the sampling step. Index Terms Nonlinear systems, uncertainty, variable structure systems, output feedback.