Sliding mode differentiator-based robust backstepping control of nonlinear uncertain system

A new robust technique control is developed in this paper for a nonlinear uncertain system. This technique is based on backstepping method integrating sliding mode differentiator used to estimate the derivative of tracking error. This technique has many objects especially minimizing sensors number and ameliorating control performance. The efficiency of this technique is illustrated by simulation results. The differentiator used is robust in presence of external disturbance.