Robust output feedback sliding mode control for uncertain discrete time systems |
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Institution: | 1. College of Oceanic and Atmospheric Sciences, Ocean University of China, Qingdao, 266100, PR China;2. Department of Mathematics, Harbin Institute of Technology (Weihai), Weihai, 264209, PR China;3. School of Mathematical Sciences, Ocean University of China, Qingdao 266100, PR China;1. Mechanical Engineering Department, Yasouj University, Iran;2. School of Mechanical Engineering, Iran University of Science and Technology, Narmak, Tehran, Iran |
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Abstract: | This paper proposes a robust output feedback controller for a class of uncertain discrete-time, multi-input multi-output, linear, systems. This method, which is based on the combination of discrete-time sliding mode control (DTSMC) and Kalman estimator, ensures the stability, robustness and an output tracking against the modeling uncertainties at large sampling periods. For this purpose, an appropriate structure is considered for sliding surface and the Lyapunov theory for the mismatched uncertain system is then used to design its parameter. This problem leads to solve a set of linear matrix inequalities. A new method is then proposed to reach the quasi-sliding mode and stay thereafter. Simulation studies show the effectiveness of the proposed method in the presence of parameter uncertainties and external disturbances at large sampling periods. |
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Keywords: | Robust sliding mode control Mismatched uncertainty Kalman filter Output tracking and model following Linear matrix inequalities |
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