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Discrete output feedback sliding‐mode control with integral action
Author(s) -
One Lai Nai,
Edwards Christopher,
Spurgeon Sarah K.
Publication year - 2006
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1034
Subject(s) - control theory (sociology) , sliding mode control , controller (irrigation) , mode (computer interface) , computer science , output feedback , action (physics) , control (management) , control engineering , engineering , nonlinear system , physics , artificial intelligence , quantum mechanics , agronomy , biology , operating system
This paper presents a novel approach to the problem of discrete time output feedback sliding‐mode control design. The method described applies to uncertain systems (with matched uncertainties) which are not necessarily minimum phase or relative degree one. A new sliding surface is proposed, which is associated with the equivalent control of the output feedback sliding‐mode controller. Design freedom is available to select the sliding surface parameters to produce an appropriate reduced‐order sliding motion. In order for this to be achieved, a static output feedback condition associated with a certain reduced‐order system obtained from the original plant must be solvable. The practicality of the results are demonstrated through the implementation of the controller on a small DC motor test rig. Copyright © 2005 John Wiley & Sons, Ltd.