Slotine • Li APPLIED NONLINEAR CONTROL
6.4 Input-Output Linearization of SISO Systems 246 6.5 * Multi-Input Systems 266 6.6 Summary 270 6.7 Notes and References 271 6.8 Exercises 271 7. Sliding Control 276 7.1 Sliding Surfaces 277 7.1.1 A Notational Simplification 278 7.1.2 * Filippov's Construction of the Equivalent Dynamics 283 7.1.3 Perfect Performance - At a Price 285
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