Chattering Free Error Integral Driven MIMO Sliding Mode Regulator for Linear Time Invariant Systems

Abstract

In this work, an errorintegraldriven sliding mode controller (EIDSMC) is discussed for multiinput multioutput (MIMO) linear timeinvariant (LTI) systems. The boundary layer approach is utilized in order to eliminate the chattering problem. Though the sliding variable remains in the vicinity of the sliding surface without reaching it, it is shown that the steadystate error vanishes exponentially asymptotically within a boundary layer, for systems of relative order one, even if parameter uncertainty and unmatched input disturbances exist. The pole placement is accomplished indirectly with an iterative optimization procedure by considering limits on controls and state. Finally, the outputfeedback controller is augmented with a Luenberger fullstate and disturbance observer.