For a class of linear MIMO uncertain systems, a dynamic output feedback sliding mode control algorithm that avoids the chattering problem and high gain control is proposed in this paper. Without using any differentiator, we develop a modified asymptotically stable second order sliding mode control law in which the developed controller can guarantee the finite time convergence to the sliding mode and the system states asymptotically approach to zero. Finally, a numerical example is explained for demonstrating the applicability of the proposed scheme.
Chang, Jeang-Lin and Tsai, Jui-Che
"DYNAMIC OUTPUT FEEDBACK SLIDING MODE CONTROLLER DESIGN FOR CHATTERING AVOIDANCE,"
Journal of Marine Science and Technology: Vol. 22:
3, Article 1.
Available at: https://jmstt.ntou.edu.tw/journal/vol22/iss3/1