Integral Higher Order Sliding Mode and singular optimal stabilization

This paper explores the possibilities of the so-called Integral Higher-Order Sliding-Mode (IHOSM) control framework to solve singular optimal stabilization (SOS) problems of arbitrary order for uncertain systems. We connect the order of singularity of SOS with the co-dimension of the set of singular optimal manifold. IHOSM is designed allowing to reach singular optimal manifold in prescribing time moment and ensures SOS. Moreover, this controller provides the insensitivity of trajectory w.r.t. matched bounded uncertainties.