불확실성이 매칭조건을 만족시키지 않는 선형 시스템을 위한 슬라이딩 평면 설계 방법

A Linear Sliding Surface Design Method for a Class of Uncertain Systems with Mismatched Uncertainties

We propose a sliding surface design method for linear systems with mismatched uncertainties in the state space model. In terms of LMIs, we derive a necessary and sufficient condition for the existence of a linear sliding surface such that the reduced-order equivalent sliding mode dynamics restricted to the linear sliding surface is not only stable but completely invariant to mismatched uncertainties. We give an explicit formula of all such linear switching surfaces in terms of solution matrices to the LMI existence condition. We also give a switching feedback control law, together with a design algorithm. Additionally, we give some hints for designing linear switching surfaces guaranteeing pole clustering constraints or linear quadratic performance bound constraints. Finally, we give a design example in order to show the effectiveness of the proposed methodology.