Youla-parametrization of output feedback sliding mode controller: internal stability and disturbance rejection

In this study, a parametrized output feedback dynamic sliding mode controller is proposed and the internal stability, BIBO stability, and external disturbance rejection problem of a generalized plant is studied. The proposed controller is described by a a solution of Bezout equation and is parametrized by a Youla´s free parameter on RH_∞. It is shown that by this controller, the sliding mode is achieved in finite time, and thereafter, the ideal sliding mode controller stabilizes the generalized plant in the sense that internal stability is assured. Also, the model matching problem is formulated for a generalized plant, and the difference between linear dynamic controller and sliding mode controller is highlighted. The two simulation results show the strength of this method