On digital high-gain and sliding-mode control

Wu, Shang–Teh

doi:10.1080/002071797224829

Cited by 10 publications

(12 citation statements)

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“…Many researchers (1) - (11) have tackled these issues. The application areas of high gain control include robot manipulators (2), (3) , direct drive (DD) motor system (4) , induction motor drive (5) and large-scale systems (6) .…”

Section: Introductionmentioning

confidence: 99%

“…It is shown by Wu in Refs. (10) and (11) that even without unmodeled dynamics an otherwise stable high-gain PD control system may become unstable when implemented digitally. Stability criterion is derived in Ref.…”

Section: Introductionmentioning

confidence: 99%

“…Most of the work of high-gain control focuses on continuous control systems. Few works consider the sample-and-hold effect (9) - (11) . It is noticed that the system may become unstable when the feedback gains are high.…”

Section: Introductionmentioning

confidence: 99%

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Design of Digital High-Gain PD Control Systems Using Analytical Approach

Al-Salem

Fanni

2004

JSME Int. J., Ser. C

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It is known that a continuous stable high-gain PD control system may become unstable when the controller is implemented digitally. Recent works consider this problem and determine the stability regions of such systems. In most cases the stability regions are obtained numerically. This work introduces a new analytical approach for obtaining the stability criteria for digital systems. The approach is based on the critical constraints of simplified version of Jury test and makes use of the capabilities of MATLAB software. The approach is applied to digital PD control systems. Here, the effect of computation time in addition to that of sampling period are considered. The resulting stability criteria are presented in closed forms that are suitable for design purposes and make it possible to map the stability region for various control design parameters. This versatile capability is illustrated via design examples. To the contrary of previous knowledge, the results show that, in certain cases, the stability is obtained through increasing the proportional gain or computation time rather than by decreasing them. A comparison with the literature shows that this approach is straightforward, versatile and even corrects some of the stability regions that have been reported.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design of Digital High-Gain PD Control Systems Using Analytical Approach

Al-Salem

Fanni

2004

JSME Int. J., Ser. C

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“…The terms, r 1 , root 1 , root 2 and root 3 appearing in stability criteria (13) are shown in Figs. 1 -4 and their definitions are given in Appendix II.…”

Section: Stabilty Analysis Of Damped Systemsmentioning

confidence: 99%

“…(14), we considered the same cases as Refs. (12), (13) and derived closed-form analytical stability criteria for the three cases. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Stability Analysis for Digital PD Control of Flexible Systems Including Damping

Al-Salem

Fanni

2006

JSME Int. J., Ser. C

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In this work we extent our recent results on the stability of single-rigid/single-flexible mode system to cases involving damping. We present closed form analytical expressions that describe the boundaries of the stability regions for digital PD control systems. This is obtained using a newly adopted approach based on the critical stability constraints of Jury test. The considered system simulates many practical systems such as antenna, space shuttle, and robot arm. It is found that, the stability regions for damped flexible systems have three identifiable and distinguished topologies corresponding to three classes of damped system. The three classes are separated from each other by two surfaces in the three-dimension-space of the system-parameters. The stability region for the first class is almost a right triangle in the gain space where the third boundary, the hypotenuse, is described by the lowest root of a cubic equation. The stability region for the second class is clearly larger in size and the three roots of the cubic equation participate in defining the third boundary. In the third class, the stability region is further larger in size and the highest root of the cubic equation defines the third boundary. A peculiar situation is found where a stable system of the second class is possible with negative derivative gain. Numerical simulation is presented to verify this peculiar situation.

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Dynamic transfer between sliding control and internal model control

1999

Automatica

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On digital high-gain and sliding-mode control

Cited by 10 publications

References 0 publications

Design of Digital High-Gain PD Control Systems Using Analytical Approach

Design of Digital High-Gain PD Control Systems Using Analytical Approach

Stability Analysis for Digital PD Control of Flexible Systems Including Damping

Dynamic transfer between sliding control and internal model control

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