Title :
Robust sliding mode control for uncertain discrete-time systems with time delay
Author :
Xia, Yu ; Fu, Minyue ; Shi, Peng ; Wang, Michael
Author_Institution :
Dept. of Autom. Control, Beijing Inst. of Technol., Beijing, China
fDate :
4/1/2010 12:00:00 AM
Abstract :
Robust sliding mode control is designed for a class of uncertain systems with time delay in discrete time. The uncertainties include both mismatched parametric uncertainties in the state model and the matched external disturbance. After deriving sufficient conditions for the existence of linear sliding surfaces based on linear matrix inequality (LMI), robust reaching motion control is presented. A simulation study shows the effectiveness of the control scheme.
Keywords :
delays; discrete time systems; linear matrix inequalities; motion control; robust control; uncertain systems; variable structure systems; discrete time systems; linear matrix inequality; matched external disturbance; mismatched parametric uncertainties; motion control; robust control; sliding mode control; time delays; uncertain systems;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2009.0068