Integral variable structure robust controller design for multivariable plant output control

The paper deals with the design of an integral variable structure systems that enable to achieve the asymptotic reference signal tracking and unmeasured disturbances rejection in MIMO plants. The sliding mode equivalence principle and inverse model control method are used to determine the required dynamic switching surfaces with integral parts ensuring disturbances estimation and compensative control. The sliding mode stability conditions for proposed control scheme are also established and robustness properties are considered. The method is proved to be successfully used for multivariable nonminimum-phase uncertain plants in the presence of arbitrary disturbances, and restrictions connected with specific matching condition requirements are excepted.