Simplex-type variable structure controllers for systems with non-matching disturbances and uncertainties

This paper considers both state feedback and dynamic output feedback variable structure control of a nominally linear multivariable system which is affected by disturbances and uncertainties that do not satisfy the matching condition. In order to achieve robust stabilization with respect to the ...

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Bibliographic Details
Published in:International journal of control 1997-01, Vol.68 (3), p.625-656
Main Authors: Diong, B. M., Medanic, J. V.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Robotics
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Summary:This paper considers both state feedback and dynamic output feedback variable structure control of a nominally linear multivariable system which is affected by disturbances and uncertainties that do not satisfy the matching condition. In order to achieve robust stabilization with respect to the 'residual' uncertainties and a guaranteed level of rejection of the 'residual' disturbances during the sliding mode, procedures are proposed whereby the sliding hypersurface is designed using an H norm-bounding approach. These procedures are illustrated on a two-link flexible joint robot arm example.
ISSN:0020-7179
1366-5820
DOI:10.1080/002071797223550