Robust sliding mode design based upon output feedback

A procedure for robust switching surface design in variable structure output feedback control is presented. The method is applicable to systems with stable invariant zeros in the presence of matched uncertainty. Methods are described for the design of the hyperplane such that closed-loop robustness properties are maximised. A case study using the helicopter model is presented to show the effectiveness of the method. A model following control configuration is used to perfect the tracking of outputs. Eigenvalue and eigenvector assignment is used to design the ideal model such that internal cross coupling of the states is minimised.