A GPI sliding mode control approach for linear controllable switched systems

In this article, we propose a state-free discontinuous feedback controller design approach for the asymptotic sliding mode control of a large class of linear switched systems. The method is devoid of state measurements and efficiently extends the sliding mode control methodology to traditional input-output descriptions of the plant. The approach is based on regarding the average Generalized Proportional Integral (GPI) controller design as a guide for inducing the sliding mode features through the switching controller. Throughout, it is assumed that the available output signal coincides with the system's flat output, an output capable of completely differentially parameterizing all the variables in the system (inputs, original outputs and state variables) and exhibits no zero dynamics. Encouraging simulation results are presented in connection with the tutorial example. Experimental results are also presented for the trajectory tracking problem on a popular DC-to-DC switched power converter of the "buck" type.