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A Dynamic Output Feedback Variable Structure Controller for Uncertain Systems with Unmatched System Matrix Uncertainty

부정합 시스템 행렬 불확실성을 갖는 시스템을 위한 동적 출력 궤환 가변 구조 제어기

  • 이정훈 (경상대학교 공대 제어계측공학과)
  • Received : 2010.04.21
  • Accepted : 2010.09.16
  • Published : 2010.11.01

Abstract

In this paper, a variable structure dynamic output feedback controller with an transformed sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty, matched input matrix uncertainty, and disturbance satisfying some conditions. This paper is extended from the results of the static output feedback VSS in [9]. To effectively remove the reaching phase problems, an initial condition of the dynamic output is determined. The previous some limitations on the dynamic output feedback variable structure controller is overcome in this systematic design. A stabilizing control is designed to generate the sliding mode on the predetermined sliding surface S=0 and as a results the closed loop exponential stability is obtained and proved together with the existence condition of the sliding mode on S=0 for all unmatched system matrix uncertainties. To show the usefulness of the algorithm, a design example and computer simulations are presented.

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