Robust non-overshooting tracking using continuous control for linear multivariable systems

A robust continuous control for tracking a step reference signal without any overshoot and arbitrarily small rise time is proposed for a linear multivariable system. Integral sliding mode technique with the super-twisting sliding mode is used to make the control robust against the matched disturbances with bounded derivatives. Moore's eigenstructure assignment is used to compute nominal control part of the integral sliding mode technique which makes the system output to track the step reference with arbitrarily small rise time and without any overshoot under some mild assumptions. The efficacy of the proposed control is validated using simulation results on benchmark quadruple tank model.