Integral sliding-mode control with internal model: a separation

This note proposes a novel architecture of integral sliding mode control, in which a special “ideal control” part is introduced. This part incorporates a fairly general form of internal model to deal with regular (i.e., modeled) persistent disturbances. A key property of this architecture is a complete separation of the internal model from the design of the “discontinuous” component of the controller. In particular, the latter component is designed for systems whose dimension coincides with that of the plant, even if the internal model is infinite dimensional.