Output feedback variable structure control of uncertain linear systems in the presence of actuator dynamics

A new output feedback variable structure control scheme is developed based on a novel passivity idea. This scheme may practically stabilize a class of higher-relative-degree uncertain linear systems, and realize output tracking and disturbance attenuation as well. The controller is composed of linear filters and a single relay, without employing real-time exact differentiators. Under this framework, we also explain how actuator dynamics affect the closed loop behavior. A simulation example shows the simplicity and efficiency of this method. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

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