Linear unstable plants with saturating actuators: Robust stabilization by a time varying sliding surface

This paper proposes the use of a time-varying sliding surface for the robust stabilization of linear uncertain SISO plants with saturating actuators. A constructive procedure for its design is also proposed, and stability of the closed loop system is proved in the null controllable region. The proposed technique does not require plant stability, and can manage any bounded disturbance term satisfying the matching condition. Theoretical results have been validated by simulation using the missile roll angle control problem.