Media type: E-Article Title: An output feedback sliding mode control strategy for MIMO systems of arbitrary relative degree Contributor: Floquet, Thierry; Spurgeon, Sarah K.; Edwards, Christopher Published: Wiley, 2011 Published in: International Journal of Robust and Nonlinear Control, 21 (2011) 2, Seite 119-133 Language: English DOI: 10.1002/rnc.1579 ISSN: 1049-8923; 1099-1239 Keywords: Electrical and Electronic Engineering ; Industrial and Manufacturing Engineering ; Mechanical Engineering ; Aerospace Engineering ; Biomedical Engineering ; General Chemical Engineering ; Control and Systems Engineering Origination: Footnote: Description: <jats:title>Abstract</jats:title><jats:p>This paper develops an output feedback sliding mode controller for multi‐input multi‐output (MIMO) systems of any relative degree. A minimal set of outputs and output derivatives are identified to determine an augmented system which is relative degree 1, and a robust sliding mode differentiator is presented as the means to construct the extended output signal. It is shown that the transmission zeroes of the original plant appear directly in the reduced order sliding mode dynamics relating to the augmented system. A super twisting control algorithm is shown to provide robust control performance. Simulation results for a rationalized helicopter model taken from the literature are used to demonstrate the attraction of the approach. Copyright © 2010 John Wiley & Sons, Ltd.</jats:p>