Linear matrix inequality methods for designing sliding mode output feedback controllers

The development of sliding mode controllers based on output information alone is a topic of considerable current research interest; sliding mode control is known to be robust, but for confident industrial application, there is a need to consider design methods which use only a subset of state information. Linear matrix inequality optimisation is shown to be a useful tool both for determining switching surfaces and also for computing static output feedback controllers which satisfy the reaching condition. This paper also considers a switching surface design when dynamical compensation is required to solve the associated output feedback problems, again using linear matrix inequality methods.