Sliding mode identification and control for linear uncertain stochastic systems

This article presents the integral sliding mode technique applied to identify disturbances and robustify the optimal linear quadratic Gaussian 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 matched uncertainties, starting from the initial time instant. Numerical simulations illustrating the obtained results are given for the inverted pendulum.