MIMO Adaptive Output Feedback Sliding Mode Control with Parallel Feedforward Compensator for Linear Systems

Zenta Iwai, Ikuro Mizumoto, Makoto KUMON, Kazuki Eguchi, Toshirou Funasako

This paper describes a procedure for adaptive output feedback sliding
mode control(SMC) based on Almost Strictly Positive Real(ASPR)-ness for
a class of multi-input/multi-output linear time invariant systems.
Stability of the control system is achieved by
using the parallel feedforward compensator(PFC), which guarantees
ASPR-ness of the plant. Effectiveness of the proposed method is
confirmed through numerical simulations.

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