Output tracking and mismatched disturbances rejection using inverse model based equivalent sliding mode control

The paper deals with the problem of multivariable variable structure systems design which enable to achieve the asymptotic reference signal tracking and mismatched unmeasured disturbances rejection. The sliding mode equivalence principle is used to design the nonstationary sliding surfaces with integral parts ensuring inverse model-based equivalent control with the purpose of disturbances estimation and compensation. The variable structure disturbance observer and compensator are also developed and sliding conditions for proposed control scheme are established.