Sliding mode stabilization of uncertain systems using only output information

A practical procedure is presented for synthesizing output feedback controllers for uncertain systems based on sliding mode concepts. The class of systems to which the results apply is identified and includes the requirement that the nominal linear system is minimum phase. The procedure proposed for the design of the sliding surface uses established output feedback eigenvalue assignment results. It will be shown that all the assumptions imposed on the system pertain to the design of the sliding surface. The proposed controller, which guarantees attainment of a sliding mode despite the presence of uncertainty requires no additional assumptions.