Title :
Error feedback sliding mode controllers in output regulation of nonlinear systems
Author :
Marconi, L. ; Passini, S. ; Bonivento, C.
Author_Institution :
DEIS, Bologna Univ., Italy
Abstract :
The output tracking control problem of MIMO systems, both minimum and nonminimum phase, is here discussed in sliding mode terms. The first goal of the paper is to address the problem of designing an error feedback controller able to achieve the asymptotic tracking of an exosystem-generated reference trajectory. To this end two design techniques are illustrated. A second goal is to address the robustness of the proposed control scheme against parameter uncertainties and external disturbances
Keywords :
MIMO systems; feedback; nonlinear control systems; robust control; tracking; variable structure systems; MIMO systems; asymptotic tracking; design techniques; error feedback controller; error feedback sliding mode controllers; exosystem-generated reference trajectory; external disturbances; minimum phase; nonlinear systems; nonminimum phase; output regulation; output tracking control problem; parameter uncertainties; robustness; sliding mode terms; Control systems; Error correction; MIMO; Nonlinear control systems; Nonlinear systems; Observers; Output feedback; Robust control; Sliding mode control; USA Councils;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.806213