Output Regulation for MIMO Linear Systems Using Integral Variable Structure Control

In this paper, an integral variable structure control scheme is proposed for a class of MIMO linear systems with matched uncertainty and constant disturbance. In our method, the integral term of tracking error is not only in the switching surface but also in the control algorithm. Hence, the problem of tracking error when the system is in the sliding layer can be effectively handled. Based on the pole assignment applied to the overall system, a novel and simple switching surface design is presented. Finally, a numerical example is given to demonstrate the applicability of the proposed control scheme.