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The problem of output tracing for nonlinear, non-minimum phase systemswill be surveyed in this article. A cascade form control structure will be presented, for the desirable output tracing during the stabilization of inner dynamics in a limited time that conjugates the first and second times of sliding mode methods together.This method is converged under the complete asymptotically feedback.Comparing to the other methods, this method main efficiency is that sliding mode dynamics of output tracing error variable has a lower rank and its adjustment is simpler consequently therefore the transient response variables have better properties. Theoric analysis and simulation results reveal the suggested method effictivness.

A novel design in output tracing for nonlinear systems via the first and second time sliding mode control