Abstract
This paper addresses the problem of designing a dynamic output feedback sliding mode control algorithm to stabilize a linear MIMO uncertain system having relative degree two. Introducing a suitable dynamic compensator into the sliding variable, the additional degree of freedom can be used to robustly guarantee the closed-loop system stability once the system is in the sliding mode. A modified asymptotically stable second-order sliding mode control is analyzed and the proposed controller can obtain the real second-order sliding mode. Finally, the feasibility of the proposed method is illustrated by a numerical example.
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Recommended by Editor Yoshito Ohta.
Jeang-Lin Chang received his B.S. and M.S. degrees in Control Engineering, his Ph.D. degree in Electrical and Control Engineering from National Chiao Tung University, Taiwan, R.O.C., in 1992, 1994, and 1999, respectively. He was with the Mechanical Research Laboratory, Industrial Technology Research Institute, Taiwan, during 1997–1999. In 1999, he joined the Department of Electrical Engineering, Oriental Institute of Technology, as an Assistant Professor. He is currently a Professor and a Dean of Research and Development. His research interests include sliding mode control, motion control, and signal processing.
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Chang, JL. Robust dynamic output feedback second-order sliding mode controller for uncertain systems. Int. J. Control Autom. Syst. 11, 878–884 (2013). https://doi.org/10.1007/s12555-012-0070-9
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DOI: https://doi.org/10.1007/s12555-012-0070-9