Integral Sliding-Mode Observation and Control for Switched Uncertain Linear Time Invariant Systems: a Robustifying Strategy

2017 ◽  
Vol 20 (4) ◽  
pp. 1551-1565 ◽  
Author(s):  
Rosalba Galván-Guerra ◽  
Leonid Fridman ◽  
Rafael Iriarte ◽  
Juan-Eduardo Velázquez-Velázquez ◽  
Martin Steinberger
Keyword(s):  
Sliding Mode ◽  
Linear Time ◽  
Integral Sliding Mode ◽  
Linear Time Invariant ◽  
Linear Time Invariant Systems ◽  
And Control ◽  
Time Invariant

Chattering-Free Error Integral Driven MIMO Sliding Mode Regulator for Linear Time-Invariant Systems

2016 ◽  
Vol 138 (7) ◽  
Author(s):  
Kerim Yunt
Keyword(s):  
Boundary Layer ◽  
Sliding Mode ◽  
Linear Time ◽  
Optimization Procedure ◽  
Pole Placement ◽  
Linear Time Invariant ◽  
Full State ◽  
Chattering Free ◽  
Linear Time Invariant Systems ◽  
Time Invariant

In this work, an error-integral-driven sliding mode controller (EID-SMC) is discussed for multi-input multi-output (MIMO) linear time-invariant (LTI) systems. The boundary layer approach is utilized in order to eliminate the chattering problem. Though the sliding variable remains in the vicinity of the sliding surface without reaching it, it is shown that the steady-state error vanishes exponentially asymptotically within a boundary layer, for systems of relative order one, even if parameter uncertainty and unmatched input disturbances exist. The pole placement is accomplished indirectly with an iterative optimization procedure by considering limits on controls and state. Finally, the output-feedback controller is augmented with a Luenberger full-state and disturbance observer.

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