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Abstract
This paper considers the development of tracking controllers for a multi-input nonlinear non-minimum phase Planar Vertical Take-off and Landing (PVTOL)aircraft. The system is considered to be subject to bounded/sector additive external uncertainties. A dynamic sliding mode control philosophy is employed. The stability and robustness of the resulting closed-loop system is analysed. It is demonstrated that ultimate bounded tracking may be achieved with bounded inputs despite the presence of uncertainty.
