This paper presents the application of discrete-time variable structure control with sliding mode based on the 'reaching law' method for robust control of a 'simple inverted pendulum on moving cart' - a standard nonlinear benchmark system. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. The controller design is carried out using pole placement technique to find state feedback gain matrix , which decides the dynamic behavior of the system during sliding mode. This is followed by feedback gain realization using the control law which is synthesized from 'Gao-s reaching law'. The model of a single inverted pendulum and the discrete variable structure control controller are developed, simulated in MATLAB-SIMULINK and results are presented. The response of this simulation is compared with that of the discrete linear quadratic regulator (DLQR) and the advantages of sliding mode controller over DLQR are also presented


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Stability Analysis of a Class of Nonlinear Systems Using Discrete Variable Structures and Sliding Mode Control


    Beteiligte:
    Vivekanandan C. (Autor:in) / Prabhakar .R. (Autor:in) / Prema D. (Autor:in)

    Erscheinungsdatum :

    2008-05-26


    Anmerkungen:

    oai:zenodo.org:1073166



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Stability analysis of discrete input output second order sliding mode control

    Romdhane,H. / Dehri,K. / Nouri,A.S. et al. | Kraftfahrwesen | 2014


    Discrete Sliding Mode Control Using Neural Network

    Miguchi, J. / Wu, H. / Mizukami, K. | British Library Online Contents | 1997


    Fuzzy-Based Sliding Mode Control Design for Stability Analysis of Nonlinear Interconnected Systems

    Manivannan, A. / Bhuvaneshwari, G. / Krishnasamy, R. et al. | Springer Verlag | 2020


    Decentralised Sliding Mode Tracking Control for a Class of Nonlinear Interconnected Systems

    Ding, Y / Yan, X / Mao, Z et al. | BASE | 2021

    Freier Zugriff

    Integral sliding mode control for a class of nonlinear mismatched uncertain systems

    Qun Zong, / Zhanshan Zhao, / Liqian Dou, et al. | IEEE | 2008