Title :
Variable structure control of nonlinear multivariable systems: a tutorial
Author :
DeCarlo, Raymond A. ; Zak, Stanislaw H. ; Matthews, Gregory P.
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
fDate :
3/1/1988 12:00:00 AM
Abstract :
The design of variable-structure control (VSC) systems for a class of multivariable, nonlinear, time-varying systems is presented. Using the Utkin-Drazenovic method of equivalent control and generalized Lyapunov stability concepts, the VSC design is described in a unified manner. Complications that arise due to multiple inputs are examined, and several approaches useful in overcoming them are developed. Recent developments are investigated, as is the kinship of VSC and the deterministic approach to the control of uncertain systems. All points are illustrated by numerical examples. The recent literature on VSC applications is surveyed
Keywords :
multivariable control systems; nonlinear control systems; stability; time-varying systems; Utkin-Drazenovic method; deterministic approach; equivalent control; generalized Lyapunov stability; multiple inputs; nonlinear multivariable systems; time-varying systems; uncertain systems; variable-structure control; Control systems; Ear; Feedback control; Lyapunov method; MIMO; Nonlinear control systems; Process design; Switches; Time varying systems; Tutorial; Uncertain systems;
Journal_Title :
Proceedings of the IEEE
