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

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

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