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A nonlinear multivariable control scheme for linear time-invariant plants is presented that is capable of rejecting unmatched disturbances that are sufficiently often differentiable. It is based on the Youla parameterization in state space. Robust exact sliding-mode differentiators are employed for the realization of improper Youla parameters. Implementation complexity is optimized by minimizing the total number of required differentiator states. The resulting closed loop is shown to be input-to-state stable with respect to arbitrary bounded disturbances. Simulations and experimental results from a four-tank system corroborate the results.

Sliding-Mode-Based Output-Feedback Control of Multivariable Systems via Youla Parameterization