Dynamic output feedback sliding mode control for non-minimum phase systems with application to an inverted pendulum

Feng, Jiehua; Gao, Shouli; Zhao, Ding; Yan, Xiangwu; Spurgeon, Sarah K.

doi:10.1016/j.ifacol.2020.12.1182

Cited by 6 publications

(3 citation statements)

References 13 publications

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“…A different approach is required to formalize the control law design for either the nonminimum phase or unstable system. Some ideas, such as in previous works, [31][32][33][34] can be utilized to compensate for the systems' nonminimum phase or unstable behavior. However, a thorough analysis is still required to extend the SMRC design to properly handle the above systems.…”

Section: Controller Designmentioning

confidence: 99%

Low-order sliding mode repetitive control for uncertain linear systems perturbed by band-limited periodic disturbances

Kurniawan¹,

Pratiwi²,

Harno

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a systematic method for designing discrete-time low-order sliding mode repetitive controller for a class of uncertain linear systems. A linear system considered in this class is perturbed by band-limited periodic disturbances and parametric uncertainties. The digital controller design method we propose combines two control strategies, namely the repetitive control and the sliding mode control techniques. The proposed controller is required to be low order and is intended to reject the periodic disturbances with specific dominant frequencies and to establish robustness against plant parametric uncertainties. Moreover, the proposed method yields a repetitive controller with only a small number of delay terms and can perform fast transient responses. We show through mathematical analyses that the linear system applying the low-order sliding mode repetitive controller satisfies sliding mode stability and robustness criteria. In addition, we demonstrate via a numerical example that a servomotor controlled by the low-order sliding mode repetitive controller can track a frequency-shifted triangular signal with a short transient period and minor errors. Other examples are also presented and show that the low-order sliding mode repetitive controller exhibits better performance than other relevant control methods.

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Section: Controller Designmentioning

confidence: 99%

Low-order sliding mode repetitive control for uncertain linear systems perturbed by band-limited periodic disturbances

Kurniawan¹,

Pratiwi²,

Harno

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…There are some difficulties in the design and implementation of OFSMC, but it has excellent performance in terms of control effect and robustness. Existing OFSMC methods mainly include the following [15,16]: the first is the conventional OFSMC. The conventional OFSMC method estimates the system state by introducing a state observer and then designs according to the error between the estimated and expected states.…”

Section: Introductionmentioning

confidence: 99%

Invariant manifold based nonsingular terminal sliding mode control for systems with multi-source disturbances via output-feedback

Chen,

You,

Zhang

2024

J Braz. Soc. Mech. Sci. Eng.

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This paper proposes an invariant manifold based nonsingular terminal sliding mode control approach for systems subject to multi-source disturbances to achieve finite-time tracking in the case of only output measurement. By utilizing the invariant manifold, the mismatched disturbances are transferred into the lumped matched disturbance. A universal finite-time observer is designed to estimate the errors between actual states and their desired values, the steady-state of the control input as well as the lumped disturbance. Introducing the estimations, a nonsingular terminal sliding mode controller is constructed. Based on Lyapunov's theory, the rigorous stability analysis for the closed-loop system is given. Compared with the existing output-feedback sliding mode control, the proposed approach enables finite-time tracking in the presence of unknown derivatives of the reference signal and multi-source disturbances without requiring additional tracking differentiators. The proposed approach is applied to the DC-DC buck converter system, and simulation results verify the effectiveness of the proposed control strategy.

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“…Thus, considerable attention has been dedicated, to stability analysis and control synthesis for NMPS. 14 Furthermore, for a broad class of systems, SMC is particularly appealing due to its ability to deal with nonlinearities, parameter uncertainties and disturbances. 15,16 The SMC is mainly relevant to state-space representation.…”

Section: Introductionmentioning

confidence: 99%

Discrete sliding mode control with optimal generalized sliding function for non-minimum phase system

Mansour

Mokhtar

Nouri

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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Discrete sliding mode control with classical sliding function for the input–output representation is not applicable in non-minimum phase systems, due to the presence of unstable zero. In fact, the presence of the unstable zero risks deteriorating or saturating the control law. In order to surmount this problem, a new discrete generalized sliding mode controller for non-minimum phase systems is proposed with a new sliding function called discrete generalized sliding function. Here, the determination of optimal coefficients of the discrete generalized sliding function is proposed in terms of linear matrix inequalities. Using the proposed method, a discrete generalized sliding mode control for non-minimum phase systems with input–output model is presented and compared with the discrete generalized sliding mode controller using the pole placement method. An illustrative example verifies the effectiveness of the proposed technique.

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Dynamic output feedback sliding mode control for non-minimum phase systems with application to an inverted pendulum

Cited by 6 publications

References 13 publications

Low-order sliding mode repetitive control for uncertain linear systems perturbed by band-limited periodic disturbances

Low-order sliding mode repetitive control for uncertain linear systems perturbed by band-limited periodic disturbances

Invariant manifold based nonsingular terminal sliding mode control for systems with multi-source disturbances via output-feedback

Discrete sliding mode control with optimal generalized sliding function for non-minimum phase system

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