Output-feedback model-reference sliding mode control of uncertain multivariable systems

This note considers the robust output tracking problem using a model-reference sliding mode controller for linear multivariable systems of relative degree one. It is shown that the closed loop system is globally exponentially stable and the performance is insensitive to bounded input disturbances and parameter uncertainties. The strategy is based on output-feedback unit vector control to generate sliding mode. The only required a priori information about the plant high frequency gain matrix K_p is the knowledge of a matrix S_p such that -K_pS_p is Hurwitz which relaxes the positive definiteness requirement usually needed by other methods.