Robust Output Tracking of Constrained Perturbed Linear Systems via Model Predictive Sliding Mode Control

Martin Steinberger*, Alberto Ismael Castillo Lopez, Martin Horn, Leonid Fridman

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


A robustifying strategy for constrained linear multivariable systems is proposed. A combination of tracking model predictive control with output integral sliding mode techniques is used to completely reject bounded matched perturbations. It can be guaranteed that all constraints on inputs, states and outputs are satisfied although only output information is used. Finally, real-world experiments with an unstable plant are presented in order to demonstrate the validity and the effectiveness of the proposed approach.
Original languageEnglish
Pages (from-to)1258– 1274
Number of pages17
JournalInternational Journal of Robust and Nonlinear Control
Issue number3
Publication statusPublished - 1 Feb 2020


  • sliding mode control
  • output integral sliding mode
  • linear model predictive control
  • output tracking

ASJC Scopus subject areas

  • Mechanical Engineering
  • Aerospace Engineering
  • Chemical Engineering(all)
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Biomedical Engineering

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