Title :
On sliding-mode servocontrollers for left-invertible MIMO nonlinear sytems
Author :
Hikita, H. ; Hanajima, N. ; Yamashita, M. ; Nagano, K.
Author_Institution :
Muroran Inst. of Technol., Hokkaido, Japan
Abstract :
A servocontroller design method for left-invertible affine nonlinear systems via sliding mode technique is proposed. The feature of this method is to require no (high order) differential of a reference signal to construct an output tracking system. The output tracks the reference signal with no steady-state error. A switching surface is designed for a dynamic compensator and the controlled system transformed by the structure algorithm. The stability of the servomechanism is guaranteed if the internal mode is bounded-input bounded-state stable
Keywords :
MIMO systems; compensation; control system synthesis; nonlinear control systems; nonlinear dynamical systems; servomechanisms; stability; variable structure systems; bounded-input bounded-state stable internal mode; dynamic compensator; left-invertible MIMO nonlinear sytems; left-invertible affine nonlinear systems; sliding mode technique; sliding-mode servocontrollers; switching surface; Algorithm design and analysis; Control systems; Design methodology; MIMO; Nonlinear dynamical systems; Nonlinear systems; Servomechanisms; Sliding mode control; Stability; Steady-state;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.577361
