Dynamic output feedback for observed variable-structure control systems (Q1082304)

For an observed control system (1) \(\dot x=f(t,x,u)\), \(u\in U\), \(y=h(x)\), with a sliding manifold \(s(x)=0\), \(s_ x\in R^{m\times n}\), a full order observer (2) \(\dot z=f(t,z,u)+P(y(t)-h(z))\) is constructed. Assume that for every \(y\in R^ k\), \(z\in R^ n\), there exists a unique solution \(u^*\in U\) of (3) \(s_ x(z)\cdot (f(t,z,\cdot)+P(y-h(z)))=0\), \(t\geq 0\). Further, let rank \(s_ x(x)=m\) whenever \(s(x)=0\), U be closed, and \(\{\) (f(t,x,u),f(t,z,u)); \(u\in U\}\) convex for \(t\geq 0\), \(x,z\in R^ n\), \(s(z)=0\). Then any solution of (1), (2) solves (4) \(\dot x=f(t,x,u^*(t,h(x),z))\), \(\dot z=f(t,z,u^*(t,h(x),z))+P(h(x)-h(z))\). If f, \(f_ x\), \(h_ x\) are bounded and there is a symmetric positive definite matrix Q such that the symmetric part of \(Q(f_ x-Ph_ x)\) is negative definite, then the unavailable state vector x can be asymptotically kept on the sliding manifold with an error decaying exponentially. Three detailed examples are presented.