✦ LIBER ✦

OUTPUT TRACKING USING DYNAMIC SLIDING MODE TECHNIQUES

✍ Scribed by S. K. Spurgeon; X. Y. Lu

Book ID: 101289595
Publisher: John Wiley and Sons
Year: 1997
Tongue: English
Weight: 361 KB
Volume: 7
Category: Article
ISSN: 1049-8923
DOI: 10.1002/(sici)1099-1239(199704)7:4<407::aid-rnc284>3.0.co;2-q

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✦ Synopsis

Output tracking for a class of nonlinear SISO systems is considered whereby the output tracking error and its derivatives to some order are driven to a neighbourhood of the origin whilst the states and input remain bounded. A higher order generalization of the traditional first order sliding mode reachability condition is proposed. This enables the designer to transfer non-minimum phase characteristics from the state responses to the artificial output (i.e., sliding function) responses if the zero dynamics has no finite escape time. It is shown that this non-minimum phase artificial output behaviour may be curbed by defining a second control policy which becomes effective within a neighbourhood of the sliding surface. Possible problems with singularity are also addressed. The ball and beam system is used to illustrate the design method.

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