Open AccessUncertain disturbances’ attenuation by homogeneous multi‐input multi‐output sliding mode control and its discretisation
Author(s) -
Levant Arie,
Livne Miki
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.0342
Subject(s) - control theory (sociology) , attenuation , discretization , homogeneous , mode (computer interface) , sliding mode control , control (management) , computer science , control engineering , engineering , mathematics , nonlinear system , physics , artificial intelligence , mathematical analysis , combinatorics , quantum mechanics , optics , operating system
Design of multi‐input multi‐output (MIMO) homogeneous sliding modes (HSMs) for uncertain dynamic systems is considered. The resulting closed‐loop systems feature all well‐known standard properties of single‐input single‐output (SISO) HSM systems. Introduction of robust exact differentiators produces homogeneous output‐feedback controllers. The ultimate asymptotic accuracy of SISO HSM technique is proved to be preserved in the MIMO and SISO cases, if the discrete‐time implementation is based on the one‐step Euler integration.