Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2011.17.7.625

Integral Sliding Mode Controller Design for Unmatched Uncertain Systems  

Choi, Han-Ho (Dongguk Univ. - Seoul)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.7, 2011 , pp. 625-628 More about this Journal
Abstract
This paper presents an LMI-based method to design an integral sliding mode controller for a class of uncertain systems with unmatched uncertainties. The uncertain system under consideration may have unmatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs an existence condition of a sliding surface is derived. And a switching feedback control law is given. Finally, numerical examples are given to show that the proposed method can be better than the existing results for some cases.
Keywords
LMI (Linear Matrix Inequality); uncertain system; sliding mode;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 V. I. Utkin, "Variable structure systems with sliding modes," IEEE Transactions on Automatic Control, vol. 22, no. 2, pp. 212-222, Feb. 1977.   DOI
2 C. Edwards, "A practical method for the design of sliding mode controllers using linear matrix inequalites," Automatica, vol. 40, no. 10, pp. 1761-1769, Oct. 2004.   DOI
3 C. Edwards, A. Akoachere, and S. K. Spurgeon, "Sliding mode output feedback controller design using linear matrix inequalities," IEEE Transactions on Automatic Control, vol. 46, no. 1, pp. 115-119, Jan. 2001.   DOI
4 H. H. Choi, "An improved existence condition of linear sliding surfaces," Journal of Control, Automation, and Systems Engineering (in Korean), vol. 13, no. 9, pp. 851-855, Sep. 2007.   과학기술학회마을   DOI
5 H. H. Choi, "An LMI-based design of reduced order observers substitutable for full order sliding mode observers," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 14, no. 3, pp. 232-235, Mar. 2008   과학기술학회마을   DOI
6 J. Ackermann and V. I. Utkin, "Sliding mode control design based on Ackermann's formula," IEEE Transactions on Automatic Control, vol. 43, no. 2, pp. 234-237, Feb. 1998.   DOI
7 U. Shaked "An LPD approach to robust $H_2$ and $H_{\infty}$ static output-feedback design," IEEE Transactions on Automatic Control, vol. 48, no. 5, pp. 866-872, May 2003.   DOI
8 R. A. DeCarlo, S. H. Zak, and G. P. Mathews, "Variable structure control of nonlinear multivariable systems: A tutorial," IEEE Proceedings, vol. 76, no. 3, pp. 212-232, Mar. 1988.   DOI
9 H. H. Choi, "LMI-based sliding surface design for integral sliding mode control of mismatched uncertain systems," IEEE Transactions on Automatic Control, vol. 52. no. 4, pp. 736-742, Apr. 2007.   DOI
10 S. Boyd, L. El Ghaoui, E. Feron, and V. Balakrishnan, Linear Matrix Inequalities in system and Control Theory, Philadelphia, SIAM, 1994.
11 H. H. Choi, "LMI-based design of integral sliding mode controllers for mismatched uncertain systems," Transactions of Korea Institute of Electrical Engineers, vol. 59, no. 8, pp. 1441-1443, 2010.