How to implement Integral Sliding Mode in

MATLAB

The problem faced is in implementing the integral part inside the MATLAB
function ode45. To solve this, integral part may equated to another variable say
v and then system description is appended with the v as shown in the following
equations.
Z
S1 (t)

x2 ( ) + x3 ( )d

= x1 (t) +

(1)

To solve this let us define variable v such that

Z t
v =
x2 ( ) + x3 ( )d

(2)

= x2 (t) + x3 (t)

(3)

Then 3 is appended to the set of equations describing the system dynamics.

So if the initial order of the system dynamics was n, so now it becomes n + 1.
Obviously initial conditions for v also has to be specified.
Hope it helps.