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Sliding-Mode Control of Uncertain Systems in the Presence of Unmatched Disturbances with Applications

A major output from EPSRC grant reference EP/EO20763/1, this paper developed a constructive sliding-mode control method based on measured output information for uncertain systems subject to time-varying delay and unmatched disturbances. Linear matrix inequalities compute solutions to both the existence problem and the finite time reachability problem that provide guarantees on the level of closed-loop performance. The method outperforms existing approaches for an autonomous vehicle control benchmark from the Systems Engineering for Autonomous Systems (SEAS) Defence Technology Centre (DTC). Spurgeon was appointed an IEEE distinguished lecturer (2011-2014) to disseminate this work (http://www.ieeecss.org/contacts/sarah-spurgeon).