Stable, Robust Tracking by Sliding Mode Control,

Abstract

Sliding mode control is examined from the perspective of obtaining stable and robust tracking of an arbitrary time-varying reference by a multi-input-output, linear, time-invariant system driven by a certain class of bounded errors, nonlinearities and disturbances. Most exciting schemes for such systems are subsumed by the one presented here. The results are developed via the use of inverse models, and make clear the constraints imposed by the finite and infinite zero structure of the system. In particular, stable and robust tracking is shown to be obtained by the scheme in this paper if and only if the system is minimum phase. Keywords include: Sliding modes, Variable structure systems, Tracking, Robust control, Inverse models, and Zeros.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1987
Accession Number
ADA188278

Entities

People

  • Benito Fernandez
  • George C. Verghese
  • J. K. Hedrick

Organizations

  • Massachusetts Institute of Technology

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  • Autonomy
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Fields of Study

  • Engineering

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.