In this work an error-integral-driven sliding mode controller (EID-SMC) for multi-input multi-output (MIMO) minimum phase linear time-invariant (LTI) systems with feedthrough controls and output disturbance is analyzed. Though the sliding variable remains in the vicinity of the sliding surface without reaching it, it is shown that the steady-state error vanishes exponentially asymptotically within the boundary layer even if parameter uncertainty and unmatched input/output disturbances exist. The pole-placement is accomplished indirectly by an iterative optimization routine by considering limits on controls and state contrary to the existing practice in SMC where either direct pole placement or quadratic norm optimality of a performance is used. For the proposed controller framework the Luenberger observer is presented.

This content is only available via PDF.
You do not currently have access to this content.