Robust optimal sliding mode controller pole-placement in a vertical strip and disturbance rejection

This paper introduces a novel sliding mode controller design that guarantees robust closed-loop pole placement within a defined vertical strip and efficiently rejects disturbances in uncertain linear systems. The sliding mode controller (SMC) is developed using an optimal approach that employs Linear Quadratic Regulator (LQR) techniques. The system's sliding surface is designed using stable eigenvectors (EV) combined with a scalar sign function (SSF). The controller gain parameter is determined to ensure robust pole clustering. This paper discusses the control design and stability analysis of the new optimal sliding mode controller. The simulation results show that the proposed approach is able to grant robust trajectory following with high precision.