Sliding mode identification and control for linear uncertain stochastic systems

This paper presents the integral sliding mode technique applied to identifying disturbances and robustifying the optimal linear quadratic Gaussian (LQG) controller for linear uncertain stochastic systems, which is compared to the conventional sliding mode approach. The obtained identifier/controller provides a method for estimating uncertainty values and ensures robustness of the system against perturbations throughout the entire response starting from the initial time instant. Numerical simulations illustrating the obtained results are given for the inverted pendulum system.