TY - GEN
T1 - Output tracking via sliding modes in causal systems with time delay modeled by higher order padé approximations
AU - Kosiba, Edward A.
AU - Gang, Liu
AU - Shtessel, Yuri B.
AU - Zinober, Alan S.I.
PY - 2006
Y1 - 2006
N2 - Output tracking in a SISO causal uncertain nonlinear system with an output subject to a time delay is considered using sliding mode control. A higher order Padé approximation to a delay function with a known time delay is used to construct a model of a transformed system without a time delayed output and is employed in a feedback sliding mode control. This model functions as a predictor of the plant states and the plant output, but is of nonminimum phase due to the application of the Padé approximation. The method of the stable system center is used to stabilize the internal dynamics of this plant model, and a control is developed using a sliding surface to allow the plant to track a arbitrary reference profile given by an exogenous system with a known characteristic equation. Simulations of the system are performed for the plant model using a first, second and third order Padé approximations and a controller in plant feedback mode. Numerical examples for Padé approximations of increasing order are considered and compared.
AB - Output tracking in a SISO causal uncertain nonlinear system with an output subject to a time delay is considered using sliding mode control. A higher order Padé approximation to a delay function with a known time delay is used to construct a model of a transformed system without a time delayed output and is employed in a feedback sliding mode control. This model functions as a predictor of the plant states and the plant output, but is of nonminimum phase due to the application of the Padé approximation. The method of the stable system center is used to stabilize the internal dynamics of this plant model, and a control is developed using a sliding surface to allow the plant to track a arbitrary reference profile given by an exogenous system with a known characteristic equation. Simulations of the system are performed for the plant model using a first, second and third order Padé approximations and a controller in plant feedback mode. Numerical examples for Padé approximations of increasing order are considered and compared.
UR - http://www.scopus.com/inward/record.url?scp=33845571695&partnerID=8YFLogxK
U2 - 10.1109/VSS.2006.1644526
DO - 10.1109/VSS.2006.1644526
M3 - Conference Proceeding
AN - SCOPUS:33845571695
SN - 1424402085
SN - 9781424402083
T3 - Proceedings of the 2006 International Workshop on Variable Structure Systems, VSS'06
SP - 250
EP - 255
BT - Proceedings of the 2006 International Workshop on Variable Structure Systems, VSS'06
T2 - 2006 International Workshop on Variable Structure Systems, VSS'06
Y2 - 5 June 2006 through 7 June 2006
ER -