On sliding-mode servocontrollers for left-invertible MIMO nonlinear sytems

A servocontroller design method for left-invertible affine nonlinear systems via sliding mode technique is proposed. The feature of this method is to require no (high order) differential of a reference signal to construct an output tracking system. The output tracks the reference signal with no stea...

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Bibliographic Details
Published inProceedings of 35th IEEE Conference on Decision and Control Vol. 4; pp. 4022 - 4025 vol.4
Main Authors Hikita, H., Hanajima, N., Yamashita, M., Nagano, K.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 24.12.2002
Subjects
Algorithm design and analysis
Control systems
Design methodology
MIMO
Nonlinear dynamical systems
Nonlinear systems
Servomechanisms
Sliding mode control
Stability
Steady-state
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Summary:A servocontroller design method for left-invertible affine nonlinear systems via sliding mode technique is proposed. The feature of this method is to require no (high order) differential of a reference signal to construct an output tracking system. The output tracks the reference signal with no steady-state error. A switching surface is designed for a dynamic compensator and the controlled system transformed by the structure algorithm. The stability of the servomechanism is guaranteed if the internal mode is bounded-input bounded-state stable.
ISBN:9780780335905
0780335902
ISSN:0191-2216
DOI:10.1109/CDC.1996.577361