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Integral sliding mode design for robust filtering and control of linear stochastic time‐delay systems
Author(s) -
Basin Michael,
RodriguezGonzalez Jesus,
Fridman Leonid,
Acosta Pedro
Publication year - 2005
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.995
Subject(s) - control theory (sociology) , integral sliding mode , sliding mode control , controller (irrigation) , robust control , moment (physics) , robustness (evolution) , computer science , state (computer science) , mode (computer interface) , mathematics , control system , control (management) , engineering , nonlinear system , algorithm , physics , biochemistry , chemistry , electrical engineering , classical mechanics , quantum mechanics , artificial intelligence , gene , agronomy , biology , operating system
This paper presents an integral sliding mode technique robustifying the optimal controller for linear stochastic systems with input and observation delays, which is based on integral sliding mode compen‐sation of disturbances. The general principles of the integral sliding mode compensator design are modified to yield the basic control algorithm oriented to time‐delay systems, which is then applied to robustify the optimal controller. As a result, two integral sliding mode control compensators are designed to suppress disturbances in state and observation equations, respectively, from the initial time moment. Moreover, it is shown that if certain matching conditions hold, the designed compensator in the state equation can simultaneously suppress observation disturbances, as well as the designed compensator in the observation equation can simultaneously suppress state disturbances. The obtained robust control algorithm is verified by simulations in the illustrative example, where the compensator in the observation equation provides simultaneous suppression of state and observation disturbances. Copyright © 2005 John Wiley & Sons, Ltd.