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Global exact tracking for uncertain multivariable linear systems by output feedback sliding mode control

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4 Author(s)
Nunes, E.V.L. ; Dept. of Electr. Eng., Fed. Univ. of Rio de Janeiro, Rio de Janeiro, Brazil ; Peixoto, A.J. ; Oliveira, T.R. ; Liu Hsu

This paper presents a solution to the problem of global exact output tracking for uncertain multivariable linear plants with non-uniform arbitrary relative degree using output feedback sliding mode control. The key idea to overcome the relative degree obstacle is to generalize our previous hybrid estimation scheme to a multivariable version by combining, through switching, a standard linear lead filter with a nonlinear one based on robust exact differentiators, achieving uniform global exponential practical stability and exact tracking.

Published in:

American Control Conference (ACC), 2010

Date of Conference:

June 30 2010-July 2 2010