Robust output feedback using sliding mode control

A general sliding mode output feedback algorithm is developed that takes in to account parametric uncertainty and external disturbances provided certai n bounds are known. It has been assumed that the number of states is greate r than the number of sensors and that there can be a mismatched disturbance . The details of an eigenvalue perturbation analysis for an uncertain matri x are presented. A boundary layer has been introduced around each sliding s urface to eliminate the chattering phenomenon. The results from numerical s imulations are presented to corroborate the validity of the proposed contro ller.