Nonlinear Integral Sliding Mode Control Design for Singularly Perturbed Systems Under Matched and Unmatched Uncertainties

• Published in: IEEE transactions on automatic control Vol. 70; no. 5; pp. 3324 - 3330
• Main Authors: Banza, Arnold Tshimanga, Mareels, Iven
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.05.2025; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Closed loops; Control systems; Fast sensor dynamics; Heuristic algorithms; input-to-state stability; integral sliding mode control; Manifolds; matched and unmatched uncertainties; parasitic dynamics; Periodic structures; Perturbation methods; Robustness; Singular perturbation; singular perturbation analysis; Sliding mode control; sliding mode control (SMC); Stability criteria; Time constant; Tuning; Uncertainty; Vectors
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2024.3508458

A new nonlinear integral sliding mode control (ISMC) algorithm for singularly perturbed multiple-inputs and multiple-outputs (MIMO) systems subject to matched and unmatched uncertainties is proposed. The circumstance of fast sensor dynamics in series with the plant exemplifies the results. Using prior knowledge about the sensor dynamics, the ISMC structure and its parameters can be tuned to ensure that the closed loop converges to a suitably small neighborhood of the desired equilibrium. It is shown that the controlled system is semiglobally practically stable provided the convergence to the sliding manifold is faster than the main time constant governing the sensor dynamics. Simulations explore the results.