Design a sliding controller for the system:

where , , and are unknown time-varying functions verifying the known bounds:

For all t >= 0,

Assume that the state is measured and that the slowest unmodeled dynamics is the actuator dynamics with a time-constant of about 1/50. Simulate the systems performance on various trajectories (which you may want to generate using a reference model).

1 + aj(t)2 + ag(t) i sin4z = b(tju 1 + aj(t)2 + ag(t) i sin4z = b(tju