Sliding mode stabilization of uncertain systems using only output information

TLDR

The paper presents a practical procedure for synthesizing output‑feedback controllers for uncertain systems using sliding‑mode concepts and shows that all required assumptions relate to sliding‑surface design. The method applies to minimum‑phase nominal linear systems and designs the sliding surface via established output‑feedback eigenvalue‑assignment techniques. The resulting controller guarantees sliding‑mode attainment under uncertainty without extra assumptions.

Abstract

Abstract A practical procedure is presented for synthesizing output feedback controllers for uncertain systems based on sliding mode concepts. The class of systems to which the results apply is identified and includes the requirement that the nominal linear system is minimum phase. The procedure proposed for the design of the sliding surface uses established output feedback eigenvalue assignment results. It will be shown that all the assumptions imposed on the system pertain to the design of the sliding surface. The proposed controller, which guarantees attainment of a sliding mode despite the presence of uncertainty requires no additional assumptions.