Variable structure control using system decomposition

An approach to the design of large variable structure systems subject to control bounds is introduced. The method includes a switching hyperplane design based on generalized inverses and system decomposition. To ensure reaching the hyperplane and achieving a sliding condition, the control is switched between local equivalent control and bounded corrective control. The design of the corrective control component is completed using system decomposition into smaller subsystems. An estimate of the domain of attraction corresponding to the bounded control is obtained and used to select the appropriate controller bounds. The method is illustrated using a fifth-order numerical example