Robust control design with integral action and limited rate control

By means of singular perturbation methods, the authors propose two dynamical feedback controls in order to solve control tracking problems involving sliding manifolds. The first control strategy introduces an integral action to reject constant disturbances and follow constant references. The second approach, in addition to the integral action, allows the designer to take into account limits on the maximum allowable control rate. Simulations on a multi-input/multi-output (MIMO) system are considered to show the effectiveness of the proposed approach and to discuss the choice of the parameters involved.