The closed-loop transfer function of a plant controlled with a classical feedback controller, depends on the dynamics of the plant. Since most feedforward tracking controllers are designed based on this closed-loop transfer function, they are not robust against plant model uncertainties. Sliding-mode controllers have the property that when the system is on the switching line, the closed-loop behavior is independent of the plant dynamics. As a result, it can be expected that a feedforward control design based on this closed-loop behavior is robust against plant model uncertainties. This paper studies this feedforward robustness issue in detail and verifies the results on an experimental test setup: a stage driven by a linear motor. An integrated procedure is proposed in designing the closed-loop discrete-time sliding mode controller using the reaching law method.
Robust Perfect Tracking Control With Discrete Sliding Mode Controller
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, April 2001; final revision, July 2002. Associate Editor: E. Misawa.
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Wang, J., Van Brussel , H., and Swevers, J. (March 10, 2003). "Robust Perfect Tracking Control With Discrete Sliding Mode Controller ." ASME. J. Dyn. Sys., Meas., Control. March 2003; 125(1): 27–32. https://doi.org/10.1115/1.1540994
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