Multiplant and ISM output control

Here, we consider the application of a min–max optimal control based on the LQ index for a set of systems where only the output information is available. Here every system is affected by matched uncertainties, and we propose to use an output integral sliding mode to compensate the matched uncertainties right after the beginning of the process. For the case when the extended system is free of invariant zeros, a hierarchical sliding mode observer is applied. The error of realization of the proposed control algorithm is estimated in terms of the sampling step and actuator time constant. An example illustrates the suggested method of design.