| Title |
A Control Input Transformation DOF Variable Structure Controller for Uncertain Systems with Unmatched System Matrix Uncertainty |
| DOI |
https://doi.org/10.5573/ieie.2025.62.4.109 |
| Keywords |
Dynamic output feedback; Variable structure system; Sliding mode control; Unmatched uncertainties; Control input transformation VSS |
| Abstract |
This paper introduces a Variable Structure Dynamic Output Feedback (DOF) Controller with a control input transformation to enhance robust control for uncertain systems. This method addresses unmatched system uncertainty, matched input matrix uncertainty, and disturbances, offering an alternative to the approaches in [21] and [33] while maintaining the performance of [33]. To effectively tackle reaching phase issues, the initial condition for the dynamic compensator is determined, solving the initial value problem. This systematic design overcomes previous limitations of DOF variable structure controllers. The proposed stabilizing control induces the sliding mode on the predetermined DOF sliding surface, ensuring closed-loop exponential stability. The stability and sliding mode existence across unmatched system matrix uncertainties are proven, satisfying assumption A3. A design example and computer simulations are provided to demonstrate the algorithm's practical applicability. |