Observer-Free Sliding Mode Control via Structured Decomposition: a Smooth and Bounded Control Framework

In this paper, we introduce an observer-free sliding mode control (SMC) method based on explicit structural compensation via the decomposition $s=\alpha -\beta$. The proposed formulation eliminates the need for state observers and higher-order derivatives, reduces chattering, and yields smooth, bounded control signal. Simulation results confirms its robustness and stability on benchmark nonlinear systems (pendulum, Van der Pol, Duffing, and networked systems) under noise, disturbances, and parameter variations. A Lyapunov-based stability proof confirms convergence. This method provides a scalable and practical alternative to traditional SMC, well suited for embedded and distributed environments.