摘要：This article presents a novel sliding planecontrol approach by using differential geometry applied tomulti-input multi-output coupled nonlinear systems. The designmethodology is based on the decoupling of the output signals,which are controlled as independent loops. Smooth functionsare used for the switching control signal to decrease thechattering in the outputs. Experimental results are validatedover a simulated stirred tank where the robustness of theproposed control method to disturbances is observed. Besides,the chattering effect is effectively decreased by using a smoothfunction to approximate the discontinuous term in the controlsignal.
