6
2012.
Comprehensive approach to sliding subspace design in linear time invariant systems
This paper considers design in state space of reduced and integral sliding mode having either desired spectrum or optimal behavior in LQR sense. Due to the operator representation of system equation a separate consideration of discrete time and continuous time is not needed. The obtained sliding subspace enables a fully decentralized design of reaching control. Four very simple algorithms are the paper's outcome. Examples of their implementation in MATLAB are given at the end.