Continuous-time and discrete-time sliding mode control accomplished using a computer

Author

Garcia, J.P.F. ; Ribeiro, J.M.S. ; Silva, J.J.F. ; Martins, E.S.

Author_Institution

Dept. of Electr. Eng., UNESP, Ilha Solteira, Brazil

Volume

152

Issue

2

fYear

2005

fDate

3/4/2005 12:00:00 AM

Firstpage

220

Lastpage

228

Abstract

A computer-based sliding mode control (SMC) is analysed. The control law is accomplished using a computer and A/D and D/A converters. Two SMC designs are presented. The first one is a continuous-time conventional SMC design, with a variable structure law, which does not take into consideration the sampling period. The second one is a discrete-time SMC design, with a smooth sliding law, which does not have a structure variable and takes into consideration the sampling period. Both techniques are applied to control an inverted pendulum system. The performance of both the continuous-time and discrete-time controllers are compared. Simulations and experimental results are shown and the effectiveness of the proposed techniques is analysed.

Keywords

continuous time systems; control system analysis; control system synthesis; discrete time systems; nonlinear control systems; variable structure systems; A/D converters; D/A converters; computer-based sliding mode control; continuous-time sliding mode control; discrete-time sliding mode control; inverted pendulum system; variable structure law;

fLanguage

English

Journal_Title

Control Theory and Applications, IEE Proceedings -

Publisher

iet

ISSN

1350-2379

Type

jour

DOI

10.1049/ip-cta:20041129

Filename

1413703