Output tracking in causal nonlinear systems with an output time delay is considered using sliding mode control. The problem is reduced to that of the tracking of the output reference profile given by an exogenous system in a causal non-minimum phase system without delay, where the delay is being replaced by its Pade’ approximation. The non-minimum phase output-tracking problem is transformed to a corresponding state tracking problem. Bounded state tracking profiles are generated by equations of the stable system center. A sliding mode control algorithm is developed. A numerical example demonstrates the effectiveness of the sliding mode control design.

Issue Section:
Technical Briefs
Keywords:
variable structure systems, nonlinear control systems, delays, stability
Topics:
Delays, Design, Sliding mode control, Nonlinear systems
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Copyright © 2003
 by ASME
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