New developments on output feedback sliding mode control based on the indirect approach: Stability and practical aspects

An output feedback robust controller based on sliding modes and indirect adaptive control called Indirect Variable Structure Model Reference Adaptive Control (IVS-MRAC) was recently proposed for relative degree one LTI plants, suggesting to be globally asymptotically stable with superior transient behavior and disturbance rejection properties. In this paper, some remarkable simplifications are carried out on the original algorithm, in order to get a feasible computational implementation, since this new strategy provides a straightforward and intuitive design and tuning of its parameters. Besides, the stability properties shown in this paper are equivalent to the direct case, thus motivating further extension.