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Fast nonsingular terminal decoupled sliding-mode control utilizing time-varying sliding surfaces

In this paper, a fast form of nonsingular, terminal, decoupled, sliding-mode control, which utilizes timevarying sliding surfaces, is proposed for a class of fourth-order, single-input, multioutput, nonlinear systems. The novelcontrol law features a fast term, in the manner of fast terminal sliding-mode control, which markedly improves thefinite-time sliding-mode convergence speed near zero. Numerical simulation results, which are illustrated with a cartpole inverted pendulum system and a ball-beam system, demonstrate that the proposed control law achieves, in general,favorable transient response and lower steady-state errors compared to state-of-the-art decoupled terminal sliding-modecontrol methods.

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