Uncertain disturbances' attenuation by homogeneous multi-input multi-output sliding mode control and its discretisation

Arie Levant, Miki Livne

Research output: Contribution to journalArticlepeer-review

Abstract

Design of multi-input multi-output (MIMO) homogeneous sliding modes (HSMs) for uncertain dynamic systems is considered. The resulting closed-loop systems feature all well-known standard properties of single-input single-output (SISO) HSM systems. Introduction of robust exact differentiators produces homogeneous output-feedback controllers. The ultimate asymptotic accuracy of SISO HSM technique is proved to be preserved in the MIMO and SISO cases, if the discrete-time implementation is based on the one-step Euler integration.

Original languageEnglish
Pages (from-to)515-525
Number of pages11
JournalIET Control Theory and Applications
Volume9
Issue number4
DOIs
StatePublished - 26 Feb 2015

Keywords

  • Asymptotic stability
  • Closed loop systems
  • Closed-loop systems
  • Control system analysis and synthesis methods
  • Control system synthesis
  • Discrete-time implementation
  • Discretisation
  • Feedback
  • Homogeneous multiinput multioutput sliding mode control
  • Homogeneous output-feedback controllers
  • Integration
  • Mimo systems
  • Mimo-hsm design
  • Multivariable control systems
  • Numerical integration and differentiation
  • One-step euler integration
  • Robust exact differentiators
  • Single-input single-output hsm systems
  • Siso-hsm systems
  • Stability in control theory
  • Standard properties
  • Ultimate asymptotic accuracy
  • Uncertain disturbance attenuation
  • Uncertain dynamic systems
  • Uncertain systems
  • Variable structure systems

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