The fundamental problem of stabilizing a general non-affine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this paper. A novel integral sliding-mode parallel control (ISMPC) approach is developed, where an uncertain piecewise affine system (PWA) is constructed to model a non-affine continuous-time nonlinear system equivalently on a compact region containing the origin. A piecewise integral sliding-mode parallel controller is designed to globally stabilize the uncertain PWA and, consequently, to semi-globally stabilize the original nonlinear system. The proposed scheme enjoys two favorable features: i) some restrictions on the system input channel are eliminated, thus the developed method is more relaxed compared with the published approaches; and ii) it is convenient to be used to deal with both matched and unmatched uncertainties of the system. Moreover, we provide discussions about the universality analysis of the developed control strategy for two kinds of typical nonlinear systems. Simulation results from two numerical examples further demonstrate the performance of the developed control approach.
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