The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A New Robust Integral Variable Structure Controller for Uncertain More Affine Nonlinear Systems with Mismatched Uncertainties

부정합조건 불확실성을 갖는 비선형 시스템을 위한 새로운 강인한 적분 가변 구조 제어기

  • 이정훈 (경상대학교 공대 전기전자공학부 제어계측공학과)
  • Received : 2009.11.20
  • Accepted : 2010.05.04
  • Published : 2010.06.01
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Abstract

In this note, a systematic design of a new robust nonlinear integral variable structure controller based on state dependent nonlinear form is presented for the control of uncertain more affine nonlinear systems with mismatched uncertainties and matched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear integral variable structure controller is presented. To be linear in the closed loop resultant dynamics and remove the reaching phase problems, the linear integral sliding surface is suggested. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the linear integral sliding surface, which will be investigated in Theorem 1. Through a design example and simulation studies, the usefulness of the proposed controller is verified.

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References

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