Sliding-mode output feedback controller design using linear matrix inequalities

This note considers a sliding-mode controller which requires only output information and is static in nature. The novelty of the approach is in the rationale and method used to synthesize the linear control component which involves an linear matrix inequality optimization. The so-called reachability condition used in sliding-mode controller analysis is not required to be satisfied globally. Instead, sliding is only expected to take place within a subset of the state-space referred to as the sliding patch.