Observer-based strictly positive real (SPR) variable structure output feedback control

This paper considers switching output feedback control of linear systems and variable-structure systems. Theory for stability analysis and design for a class of observer-based feedback control systems is presented. A circle-criterion approach can be used to design an observer-based state feedback control which yields a closed-loop system with specified robustness characteristics. The approach is relevant for variable structure system design with preservation of stability when switching feedback control or sliding mode control is introduced in the feedback loop. It is shown that there exists a Lyapunov function valid over the total operating range and this Lyapunov function has also interpretation as a storage function of passivity-based control. The Lyapunov function can be found by solving a Lyapunov equation, which also generates variable structure switching surfaces. Important applications are to be found in variable structure systems with high robustness requirements.