Uncertain disturbances’ attenuation by homogeneous MIMO sliding mode control and its discretization

Abstract

Design of Multi-Input Multi-Output (MIMO) Homogeneous Sliding Modes (HSMs) for uncertain dynamic systems is considered. The resulting closed-loop systems feature all well-known standard properties of Single-Input Single-Output (SISO) HSM systems. Introduction of robust exact differentiators produces homogeneous output-feedback controllers. The ultimate asymptotic accuracy of SISO HSM technique is proved to be preserved in the MIMO and SISO cases, if the discretetime implementation is based on the one-step Euler integration.

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Cite this paper

@inproceedings{Levant2015UncertainDA, title={Uncertain disturbances’ attenuation by homogeneous MIMO sliding mode control and its discretization}, author={Arie Levant and Miki Livne}, year={2015} }