Sliding Mode Control Design for Mismatched Uncertain Systems Using Output Feedback

This paper develops an output feedback sliding mode control law for linear MIMO systems having mismatched parameter uncertainties along with disturbances and matched perturbations. Both quadratic stabilization and static output feedback control techniques are introduced into the sliding mode controller. The proposed output-dependent sliding surface can guarantee robust stability of the closed-loop system and achieve disturbance attenuation when the system is in the sliding mode. The existence condition of the sliding surface is determined by solving the coupled algebraic Riccati equations which involve the original system parameters. The developed output feedback control law can guarantee that the system globally reaches and is finally maintained on the sliding surface in finite time.