DESIGN MODIFICATION OF SLIDING MODE OBSERVERS FOR UNCERTAIN MIMO SYSTEMS WITHOUT AND WITH TIME-DELAY

Abstract

In this paper, the sliding mode observers design techniques for MIMO and as a simple example for SISO systems are systematically advanced as a first purpose. Design parameters are selected such that on the defined switching surface always is generated asymptotically stable sliding mode. Moreover, observer state error dynamics is globally robustly asymptotically stable. Then, advanced design techniques are generalized to the design of a new modification of sliding mode observers for uncertain MIMO systems with time-delay. Robust sliding and global asymptotic stability conditions are derived by using Lyapunov-Krasovskii V-functional method. By these conditions observer parameters are designed such that an asymptotically stable sliding mode always is generated in observer and observer state error dynamics is robustly globally asymptotically stable. The main results are formulated in terms of Lyapunov matrix equations and inequalities. Design example for AV-8A Harrier VTOL aircraft with simulation results using MATLAB-Simulink show the effectiveness of proposed design approaches.