Decoupled integral variable structure control for MIMO systems

This note presents an approach to design a multi-input/multi-output (MIMO) integral variable structure system. A closed-form formula based on the coprime matrix fraction description is developed to solve integral sliding surfaces for a class of linear MIMO systems and the control functions are determined. The proposed method not only avoids transforming the original plant into a companion form, but also enables the designed system to exhibit the desired dynamic properties.