High-Performance Tracking Controller for Discrete Plant Using Nonlinear Sliding Surface
Bandyopadhyay, B.
Fulwani, D.
Interdiscipl. Program in Syst. & Control Eng., Indian Inst. of Technol. Bombay, Mumbai, India;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Sept. 2009
Volume: 56,
Issue: 9
On page(s): 3628-3637
ISSN: 0278-0046
INSPEC Accession Number: 10816642
Digital Object Identifier: 10.1109/TIE.2008.2007984
First Published: 2008-10-31
Current Version Published: 2009-08-11
Abstract
A nonlinear sliding surface is proposed to improve the transient response for general discrete multiple-input-multiple-output linear systems with matched perturbations. The tracking case is analyzed, and it is shown that the scheme is able to achieve low overshoot and low settling time simultaneously; this is not possible with a linear sliding surface. The control law is based on the discrete-time sliding mode equivalent control and thus eliminates chattering. The control law is proposed based on two approaches: (1) reaching-law-based approach which needs only disturbance bounds and (2) disturbance-observer-based approach. Multirate output feedback is used to relax the need of the entire state vector for the implementation of the control law. A magnetic tape position control application is used to show the effectiveness of the proposed scheme.
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