Output feedback stabilization using variable structure control

Considers the stabilization of a class of multivariable nonlinear systems, about an equilibrium point at the origin, using variable structure output feedback control. In particular, the system can be transformed into a normal form with no zero dynamics. A robust high-gain observer is used to estimate the state variables while rejecting error disturbances. A globally bounded discontinuous variable structure controller is designed to compensate for modeling error. The authors show that the controller can stabilize the closed-loop system and does not suffer from the peaking phenomenon which exists in previous designs