document: Sliding-mode control scheme for a class of continuous chemical reactors The synthesis of a robust control law for regulation control of a class of relative-degree-one nonlinear systems is presented . The control design is based on a sliding-mode uncertainty estimator , developed under a framework of algebraic-differential concepts . The closed-loop stability for the underlying closed-loop system is achieved via averaging techniques . Robustness of the proposed control scheme is proved in the face of noise measurements , model uncertainties and sustained disturbances . The performance of the proposed control law is illustrated with numerical simulations , comparing the proposed controller with a well tuned PI controller
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