H/sub 2/ guaranteed cost-switching surface design for sliding modes with nonmatching disturbances

This paper presents an extension of Utkin and Yang's method (1978) for sliding surface design via the minimization of a quadratic performance criterion. The method proposed takes into account nonmatching disturbance signals and nonmatching system model uncertainties. An upper bound for the H/sub 2/ norm of the disturbance-to-output transfer function is minimized, leading to a guaranteed cost H/sub 2/ controller.