Title :
Sliding mode controller design using polytopic formulation
Author :
Blanco, Y. ; Gouaisbaut, F. ; Perruquetti, W. ; Borne, P.
Author_Institution :
Ecole Centrale de LILLE, Villeneuve, France
Abstract :
Presents a method to design a sliding mode controller for a wide class of perturbed nonlinear systems. The system is first transformed into the regular form. The non-matching part of the dynamics of the system are then written under a polytopic formulation. At this stage, linear/nonlinear sliding surfaces are used to provide the asymptotic stability of the origin. The proposed method is applied to a model of a ball and beam system
Keywords :
asymptotic stability; control system synthesis; matrix algebra; nonlinear control systems; variable structure systems; asymptotic stability; ball and beam system; control system synthesis; linear sliding surfaces; nonlinear sliding surfaces; perturbed nonlinear systems; polytopic formulation; sliding mode controller; variable structure systems; Asymptotic stability; Centralized control; Control systems; Design methodology; Ear; Linear systems; Nonlinear dynamical systems; Nonlinear systems; Sliding mode control; Symmetric matrices;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980227
