Compensator based output feedback sliding mode controller design

Recent work has shown that the problem of hyperplane design for output feedback sliding mode controllers is equivalent to a static output feedback pole placement problem for a certain subsystem. It is well known that the dimensionality requirements for this type of problem can be obviated by using a dynamic compensator. In this paper, a new parameterization of both the hyperplane and the compensator is proposed. The advantages of this approach are twofold: firstly it becomes straightforward to construct numerical algorithms for dynamic output feedback sliding mode hyperplane design, and secondly it enables an intuitive procedure to be employed for the design of the controller. The resulting control strategy uses only the plant outputs and the compensator states, yet is shown to guarantee the existence of a sliding motion.