Generalized block control principle

This article proposes a generalized block control principle. The algorithm, developed in the framework of sliding mode control, offers insensitivity to parameter variations and external disturbances and simplification of the control design. in contrast to the known Block Control Principle, decomposing of the system into blocks where the dimension of state and control input coincide is not required. This way the range of dynamic systems the principle can be applied to is enlarged and computational effort is reduced. in particular, the application to under-actuated mechanical systems and the problem of stabilization of systems with unstable zero dynamics are regarded.