Robust hyperplane design in multivariable variable structure control systems

Abstract

The problem of designing a stable sliding mode giving robust performance of a variable structure control system is studied. A set of specified eigenvalues is assigned to the closed-loop feedback system during the sliding mode. The design philosophy seeks to build on the known robustness and invariance properties associated with the use of discontinuous (or continuous) non-linear controls, by assigning the eigenvectors associated with the sliding-mode eigenvalues in a manner that leads to a robust control scheme. A previously developed canonical form for the hyperplane design problem is again employed. The design technique centres on a recently published eigenvalue assignment algorithm, and is illustrated by the inclusion of an example.