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Design of variable structure control system by using the vector Lyapunov function method

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3 Author(s)
Ohta, Y. ; Dept. of Electron. Eng., Kobe Univ., Japan ; Haneda, Hiromasa ; Endo, H.

The objective of this paper is to present a simple design method of a variable structure controller for systems with nonlinear uncertainty. The proposed method is based on a kind of a boundary layer method and can eliminate chattering. The control law is given by sum of a linear feedback and a saturation type nonlinear state feedback, that is, a linear feedback in the boundary layer and sum of an affine feedback outside it. So, it is a very simple control law. The proposed control law guarantees exponential stability of O solution if there is no disturbance. If disturbance exists, it guarantees ultimate boundness. The ultimately bounded region is inside the boundary layer, in which the control is a linear feedback. In the proposed design method, stability is analyzed by using the vector Lyapunov function approach

Published in:

Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on  (Volume:2 )

Date of Conference:

6-10 Nov 1995