NUMERICAL-METHODS TO DESIGN THE REACHING PHASE OF OUTPUT-FEEDBACK VARIABLE-STRUCTURE CONTROL

Two numerical methods are developed to design a variable structure con trol that satisfies the reaching condition using static output feedbac k. The design is formulated as a nonsmooth convex optimization problem for which existing algorithms are available. It is shown how the resu lting control law can be modified to be robust in the presence of para meter uncertainty or a disturbance. Numerical examples successfully de monstrate the developed techniques.