New robust controller design for multivariable control systems

This paper presents a simple reasoned methodology for designing sliding mode controllers (SMCs) for single-input-multi-output (SIMO) control systems. The approach is explicitly based on the assessment of a system total energy, and the realization of a SMC that minimizes that energy. The practical implementation of the proposed approach is exemplified on an inverted pendulum system where the system is two independent sliding surfaces are designed based on the system states.