Compensator based output feedback sliding mode controller design
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The authors consider an uncertain dynamical system of the form: \[ \dot x(t)=Ax(t)+Bu(t)+f(t,x,u),\quad y(t)=Cx(t), \] where \(x\in\mathbb R^n\) and \(y\in\mathbb R^p\) with \(m\leq p<n.\) It is assumed that the nominal linear system \((A,B,C)\) is known and the input and output matrices \(B\) and \(C\) are both of full rank. A new method of synthesizing sliding mode controllers is proposed using output information with a dynamic compensator. The approach is an extension of the authors' work [Int. J. Control 62, 1129-1144 (1995; Zbl 0849.93012)], and removes the restriction that Kimura-Davison type conditions must be valid. At the expense of fixing the compensator to be of order \(n-p,\) a straightforward parametrizations of its elements is obtained which eliminates the numerical complexities in the work of \textit{S. K. Bag, S. K. Spurgeon}, and \textit{C. Edwards} [IEE Proc. Control Theory Appl. 144, 209-216 (1997; Zbl 0887.93011)]. In addition, a new controller is presented which is very much analogous to its full state information counterpart: it does not require any additional assumptions and is not `high gain' in nature. An example demonstrates the numerical tractability of the overall design procedure.
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