H∞ norm and variance constrained controller design for stochastic model reference systems via sliding mode control concept

The constrained controller u(t) is proposed to achieve the error state upper bound covariance control with H_∞ norm and variance constraints for stochastic model reference systems. Because of the invariance property of sliding mode control systems, the matched reference model input and the plant error term disappear on the sliding mode of the error system. Combining the sliding phase and hitting phase of sliding mode control, the control feedback gain matrix G is derived to achieve the goals