In this work, an error-integral-driven sliding mode controller (EID-SMC) is discussed for multi-input multi-output (MIMO) linear time-invariant (LTI) systems. The boundary layer approach is utilized in order to eliminate the chattering problem. Though the sliding variable remains in the vicinity of the sliding surface without reaching it, it is shown that the steady-state error vanishes exponentially asymptotically within a boundary layer, for systems of relative order one, even if parameter uncertainty and unmatched input disturbances exist. The pole placement is accomplished indirectly with an iterative optimization procedure by considering limits on controls and state. Finally, the output-feedback controller is augmented with a Luenberger full-state and disturbance observer.
Chattering-Free Error Integral Driven MIMO Sliding Mode Regulator for Linear Time-Invariant Systems
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received June 14, 2015; final manuscript received March 25, 2016; published online May 16, 2016. Assoc. Editor: Heikki Handroos.
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Yunt, K. (May 16, 2016). "Chattering-Free Error Integral Driven MIMO Sliding Mode Regulator for Linear Time-Invariant Systems." ASME. J. Dyn. Sys., Meas., Control. July 2016; 138(7): 071010. https://doi.org/10.1115/1.4033270
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