Min-Max Output Integral Sliding Mode Control for Multiplant Linear Uncertain Systems

In this paper we consider the problem of using the min-max optimal control based on the LQ-index for a set of systems where only output information is available. We consider that each system is affected by matched uncertainties, and we propose to use an output integral sliding mode (OISM) to compensate the matched uncertainties right after the beginning of the process. For the case when the number of inputs is less than the number of outputs, a hierarchical sliding mode observer is proposed that converges to the original state with any small arbitrarily precision after any arbitrarily time.