SLIDING MODE CONTROL WITH LINEAR QUADRATIC REGULATOR AUGMENTED WITH INTEGRATORS APPLIED TO A 2DOF HELICOPTER
It is proposed the use of Sliding Mode Control (SMC) with Linear Quadratic Regulator (LQR) when augmented with integrators: the former guarantees robustness against model uncertainty and external disturbance while the latter adds tracking capability with null steady-state error for step inputs. Besides, only the first derivative of the reference is required for trajectory tracking. The $\eta$-reachability condition is studied for a manifold based on the tracking error. The methodology of inserting integrators at the input of the linear controller is also described, and the proposed control scheme is applied to a 2DOF Helicopter.