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SATURATED SYSTEMS WITH SLIDING MODE CONTROL

This paper presents a design methodology of robust sliding mode control of systems with the presence of constraint of saturation. The saturation is being on the control matrices. Firstly, we formulate the design of the sliding surface as a problem of root clustering of a reduced system, what leads to the formulation of the new dynamics of the system in sliding mode. Secondly, we realize a selection of a saturated continuous and non-linear control law, to reach the sliding surface. Finally, a numerical application is illustrated to validate the theoretical results of this work.