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In thesis thesis, a robust dynamical controller design
algorithm for single-input single-output(SISO) nonlinear systems
with high-order and unmatched uncertainties is provided. For
many practical systems, high-order and unmatched uncertainties
are common in control pranctice. Further, sometimes upper
boundsof the uncertainties may not be easily obtained because of
the comlpexity ofstructure of the uncertainties. Therefore the
problem of controlling such systems becomes more complex, more
difficult and more practical. We will propose a new method to
combine the skill of the skill of dynamic sliding modewith
extensive adaptation laws to deal with the problem of high-order
and unmatched uncertainties without any knowledge of the upper
bounds of the uncertainties. Some examples and simulation
results are provided to illustratethe versatility and
performance of the proposed method. Finally, the
suggesedcontroller is applied to the controlling of the Robot
with Flexible Foint.Simulation results indicate its efficiency.
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