Title :
A smooth second-order sliding mode controller for relative degree two systems
Author :
Iqbal, S. ; Edwards, C. ; Bhatti, A.I.
Author_Institution :
Dept. of Electron. Eng., Mohammad Ali Jinnah Univ., Islamabad, Pakistan
Abstract :
A novel smooth second order sliding mode controller based on a modified “twisting” algorithm for relative degree two systems is discussed to provide robustness as well as accuracy. A robust exact observer is introduced in the closed loop system to reject the drift signals. A Lyapunov method combined with homogeneity concept is used to prove finite time stability of the overall system. The method is verified through simulations on a benchmark example of a DC motor.
Keywords :
Lyapunov methods; closed loop systems; observers; robust control; variable structure systems; DC motor; Lyapunov method; closed loop system; drift signal rejection; finite time stability; homogeneity concept; modified twisting algorithm; relative degree two system; robust exact observer; smooth second-order sliding mode controller; Closed loop systems; DC motors; Observers; Robustness; Switches; Torque;
Conference_Titel :
IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Glendale, AZ
Print_ISBN :
978-1-4244-5225-5
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2010.5675557
