Zero-placement approach to the design of sliding surfaces for linear multivariable systems

A method is introduced for sliding-surface design for multivariable linear systems based on the placement of the transfer function transmission zeros from the control signal to the (fictitious) output which specifies the sliding surface. The design procedure uses the Luenberger feedback canonical form with input normalisation, which in turn is calculated using numerically reliable orthogonal transformations from the SLICOT library