This paper presents a state feedback discrete variable structure controller for robust tracking of linear multivariable systems with unmatched, additive uncertainties. Extension of the controller to output feedback using a prediction observer with bias estimation is also given. It is shown that the state feedback controller guarantees attractiveness and invariance of a boundary layer, while the output feedback controller does so after a transient. Unlike existing schemes, the controllers utilize a single sliding hyperplane regardless of the number of inputs. This attribute enables the development of a procedure that admits, under minor restrictions, direct application of well-established linear control strategies in the design of tracking error dynamics. A numerical example is used to illustrate the proposed controllers. [S0022-0434(00)01904-3]
Discrete Variable Structure Control for Linear Multivariable Systems
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division April 29, 1998. Associate Technical Editors: E. Misawa and V. Utkin.
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Tang, C. Y., and Misawa, E. A. (April 29, 1998). "Discrete Variable Structure Control for Linear Multivariable Systems ." ASME. J. Dyn. Sys., Meas., Control. December 2000; 122(4): 783–792. https://doi.org/10.1115/1.1318944
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