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An output feedback sliding mode control strategy for MIMO systems of arbitrary relative degree
Author(s) -
Floquet Thierry,
Spurgeon Sarah K.,
Edwards Christopher
Publication year - 2011
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.1579
Subject(s) - differentiator , control theory (sociology) , mimo , degree (music) , mode (computer interface) , sliding mode control , set (abstract data type) , computer science , controller (irrigation) , output feedback , control (management) , mathematics , nonlinear system , telecommunications , physics , artificial intelligence , channel (broadcasting) , bandwidth (computing) , quantum mechanics , acoustics , agronomy , biology , programming language , operating system
This paper develops an output feedback sliding mode controller for multi‐input multi‐output (MIMO) systems of any relative degree. A minimal set of outputs and output derivatives are identified to determine an augmented system which is relative degree 1, and a robust sliding mode differentiator is presented as the means to construct the extended output signal. It is shown that the transmission zeroes of the original plant appear directly in the reduced order sliding mode dynamics relating to the augmented system. A super twisting control algorithm is shown to provide robust control performance. Simulation results for a rationalized helicopter model taken from the literature are used to demonstrate the attraction of the approach. Copyright © 2010 John Wiley & Sons, Ltd.