Nonparametric control algorithm for nonlinear dynamic systems using sliding modes

The paper deals with a new control algorithm designed for nonlinear dynamic systems with the use of Sliding Mode control approach. The SISO object is represented by its nonparametric finite differences model in state space. The paper gives recommendations for tuning and optimization of the control algorithm. The proposed control algorithm is implemented in MATLAB/Simulink technical computing software. As an illustrative example we presrnt results of control process of inverted pendulum.