제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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THE ROBUST CONTROLLER DESIGN FOR UNCERTAIN MULTIVARIABLE SYSTEM USING SWITCHING DYNAMICS

  • Park, Gwi-Tae (Department of Electrical Engineering Korea University) ;
  • Kuo, Chun-Ping (Department of Electrical Engineering Korea University) ;
  • Kim, Dong-Sik (Department of Electrical Engineering Korea University) ;
  • Lim, Sung-Jun (Department of Electrical Engineering Korea University)
  • Published : 1989.10.01
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Abstract

This paper presents the design of simple robust controller for a class of uncertain multivariable systems. We introduce switching dynamics instead of switching logics unlike variable structure control scheme. Also, we can construct the continuous control law from this switching dynamics and consequently remove the chattering motion. The dynamic equations of the range-space of a switching surface matrix C and uniform ultimate boundedness in the presence of parameter uncertainties are described mathematically.

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