Repetitive sliding mode control for nondecouplable multivariable systems: Periodic disturbances rejection

Disturbances rejection is an important field of control theory. In this context, our paper is proposed to deal with asymptotic rejection of periodic disturbances affecting discrete multivariable systems with an interactor matrix. A multivariable repetitive sliding mode control is proposed to cancel the disturbances when the system is nondecouplable. To synthesis this control an interactor matrix is used. A numerical example shows that the proposed strategy gives good performance in terms of rejecting periodic disturbances for nondecouplable multivariable systems.