Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Sliding Mode Control for Linear System with Mismatched Uncertainties

정합조건을 만족하지 않는 선형 시스템에 대한 슬라이딩 모드 제어

  • 성재봉 (창원대학교 전기전자제어공학과) ;
  • 권성하 (창원대학교 메카트로닉공학부) ;
  • 박승규 (창원대학교 메카트로닉공학부) ;
  • 정은태 (창원대학교 메카트로닉공학부)
  • Published : 2001.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a design method of sliding model control (SMC) for single input linear systems with mismatched uncertainties. We define a virtual state based on the controllable canonical form of the nominal system. And we defined a sliding surface for the augmented system with a virtual state. This sliding surface makes it possible to use the SMC technique with various types of controllers. In this paper, we construct a controller that combines SMC with robust controller. We design a robust controller for the system with mismatched uncertainties using a form of linear matrix inequality(LMI). We make a virtual state from this robust control input and the states of the nominal system. And we design a sliding model controller that stabilizes the overall closed-loop system.

Keywords

References

  1. V. I. Utkin, Sliding Modes and Their Application in Variable Structure Systems, MIR Publishers, Moscow, 1974
  2. U. Itkis, Control systems of variable structure, Wiley, New York, 1976
  3. J. Y. Hung, W. Gao, and J. C. Hung, 'Variable structure control : A survey,' IEEE Trans. Industrial Electronics, vol. 40, no. 1, pp. 2-22, 1993 https://doi.org/10.1109/41.184817
  4. S. K. Park and H. K. Ahn, 'Robust controller design with novel sliding surface,' IEEE Proc. Control Theory Appl., vol. 146, no. 3, pp. 242-246, 1999 https://doi.org/10.1049/ip-cta:19990436
  5. I. R. Petersen, 'A stabilization algorithm for aclass of uncertain linear systems,' Syst. Contr. Lett., vol. 8, pp. 351-357, 1987 https://doi.org/10.1016/0167-6911(87)90102-2
  6. S. Boyd, L. E. Ghaoui, E. Feron, and V. Balakrishnan, Linear Matrix Inequalities in System and Control Theory, SIAM Studies in Applied Mathematics, vol. 15, Philadelphia, PA., 1994
  7. P. Gahinet, A. Nemirovski, and A. J. Laub, LMI Control Toolbox User's Guide, The MathWorks, Inc., Natick, MA., 1995