Discrete variable structure control for linear multivariable systems: the state feedback case

Presents a state feedback discrete variable structure controller for linear multivariable systems with unmatched additive uncertainties, a generalization of the controller for single-input systems by Misawa (1997). It is shown that the controller guarantees the attractiveness and invariance of the boundary layer. In contrast to existing schemes, it utilizes one sliding hyperplane regardless of the number of inputs. This attribute enhances the design freedoms of tracking error dynamics inside the boundary layer while preserving robustness. It allows the use of well-established linear control design strategies under an eigenvalue constraint. A numerical example is used to illustrate the proposed technique