An Output Feedback Sliding Mode Control Strategy for MIMO Systems of Arbitrary Relative Degree

This paper develops an output feedback sliding mode controller for multi-input multi-output (MIMO) systems of any relative degree. A minimal set of outputs and output derivatives are identified to determine an augmented system which is relative degree 1, and a robust sliding mode differentiator is presented as the means to construct the extended output signal. It is shown that the transmission zeroes of the original plant appear directly in the reduced order sliding mode dynamics relating to the augmented sytem. A super twisting control algorithm is shown to provide robust control performance. Simulation results for a rationalized helicopter model taken from the literature are used to demonstrate the attraction of the approach.