Variable structure control design and stability analysis in reciprocal state space framework

This paper investigates the novel variable structure control (VSC) designs with state derivative feedback in nontraditional reciprocal state space (RSS) framework. Novel switching functions based on the derivative of sliding surface satisfying the approaching condition of sliding mode are introduced. In addition, algorithm of finding upper bound of system uncertainty is developed for robustness analysis. VSC design is carried out for unstable systems with system uncertainty and matched external disturbance. Simulation results successfully verify the validities of the proposed algorithms.