MIMO ADAPTIVE OUTPUT FEEDBACK SLIDING MODE CONTROL WITH PARALLEL FEEDFORWARD COMPENSATOR FOR LINEAR SYSTEMS

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.