스위칭 동태방정식을 이용한 선형 다변수서보메카니즘에 대한 견고한 제어기 설계

The robust controller design for linear multivariable servo mechanism using switching dynamics

This paper presents an approach for designing a linear multivariable servo mechanism for the case of constant and time varying disturbances. In this paper, we use an "observer-based" approach to consider the disturbance vector as states of the system and the resulting servomechanism design involves the design of an asymptotic observer which estimates both the actual plant states and the disturbance states. The design makes use of switching dynamics instead of switching logics to obtain the sliding mode and from the switching dynamics we can remove the undesirable chattering phenomena.phenomena.