Variable structure systems (or sliding mode control systems) are nonlinear automatic control systems whose structures are deliberately allowed to change, so that robust performance is obtained. This allows the design of high performance control systems that can be reliably and easily implemented at low cost. This book is unique in that it aims to fulfill the definite need for an accessible book on variable structure systems and also provides the very latest results in research on this topic. Divided into three parts - basics of sliding mode control, new trends in sliding mode control, and applications of sliding mode control - the book contains many numerical design examples, so that readers can quickly understand the design methodologies and their applications to practical problems.Also available: Symbolic Methods in Control System Analysis and Design - ISBN 0852969430 People in Control: human factors in control room design - ISBN 0852969783The Institution of Engineering and Technology is one of the world's leading professional societies for the engineering and technology community. The IET publishes more than 100 new titles every year; a rich mix of books, journals and magazines with a back catalogue of more than 350 books in 18 different subject areas including: -Power & Energy -Renewable Energy -Radar, Sonar & Navigation -Electromagnetics -Electrical Measurement -History of Technology -Technology Management
Author(s): Asif Sabanovic
Year: 2004
Language: English
Pages: 408
Contents......Page 6
Contributors......Page 14
Preface......Page 18
Part I Sliding mode control theory......Page 20
1.2 The concept of a 'sliding mode'......Page 22
1.3 Sliding mode equations......Page 26
1.4 Existence conditions......Page 28
1.5 Design principles......Page 30
1.6 Discrete-time sliding mode control......Page 32
1.7 Chattering problem......Page 33
1.8 Sliding mode observers......Page 34
1.9 Conclusion......Page 35
1.10 Further Reading......Page 36
2.1 Introduction......Page 38
2.3 Discontinuous dynamic regulator for multivariable linear systems......Page 41
2.4 Discontinuous dynamic regulator for nonlinear systems......Page 50
2.7 References......Page 61
3.1 Preliminaries......Page 64
3.2 State-estimation as a component of identification theory: a short survey......Page 65
3.3 Estimation problem statement: formalism......Page 68
3.4 The nominal (nondisturbed) system and observability property......Page 69
3.5 Examples of observability analysis......Page 72
3.6 Observer structure......Page 77
3.7 Standard high-gain observer......Page 79
3.8 Sliding mode observers......Page 85
3.10 Appendix......Page 94
3.11 References......Page 97
4.1 Introduction......Page 100
4.2 Problem setting......Page 101
4.3 Main result......Page 106
4.4 Convergence zone analysis......Page 113
4.6 References......Page 115
5.1 Discrete-time variable structure control (DVSC)......Page 118
5.2 Control for discrete-time systems (review of early works)......Page 121
5.3 Definition of sliding mode and quasi-sliding modes in discrete-time......Page 123
5.4 Lyapunov stability and invariant sets in discrete-time systems......Page 124
5.5 'Sliding conditions' in discrete-time......Page 125
5.6 DVSC with attractive boundary layer......Page 126
5.7 DVSC with disturbance estimation......Page 129
5.8 DVSC with sliding sectors......Page 131
5.9 Properties of DVSC......Page 133
5.10 Approaches to design the 'sliding surface' in discrete-time......Page 134
5.11 Numerical examples......Page 136
5.12 Issues in the realisation of DT SMC......Page 140
5.13 References......Page 143
Part II New trends in sliding mode control......Page 148
6.1 Introduction......Page 150
6.2 Main notions and the problem statement......Page 151
6.3 Standard 2-sliding controllers in systems with relative degree 2......Page 154
6.4 Sampling noise and variable sampling step......Page 159
6.5 Robust exact differentiation......Page 160
6.6 Robust output-feedback control: differentiator in the feedback......Page 162
6.7 Output feedback: simulation results......Page 163
6.8 Influence of the actuator dynamics......Page 165
6.9 Conclusions......Page 170
6.10 References......Page 172
7.1 Introduction......Page 176
7.2 Delta-modulators and sliding modes......Page 177
7.3 Output feedback control of differentially flat systems......Page 182
7.4 Delta modulation and higher order sliding mode differentiation......Page 191
7.5 References......Page 194
8.1 Introduction......Page 196
8.2 Introduction to the locus of a perturbed relay system (LPRS)......Page 198
8.3 Computation of the LPRS for a non-integrating plant......Page 202
8.4 Computation of the LPRS for an integrating plant......Page 206
8.5 Frequency domain conditions of sliding mode existence......Page 210
8.6 Example of chattering and disturbance attenuation analysis......Page 212
8.8 References......Page 214
9.1 Introduction......Page 216
9.2 Motivational example: consideration of a nonminimum-phase plant......Page 217
9.3 Stable system centre design for feedforward/feedback tracking control for systems in a normal canonical form......Page 223
9.4 Asymptotic output tracking by state-feedback: dynamic sliding manifold technique......Page 228
9.5 Conclusions......Page 233
9.6 References......Page 235
10.1 Introduction......Page 238
10.2 Discretisation chaos in SMC......Page 239
10.3 Time-delayed chaos control with SMC......Page 248
10.4 Generalising the OGY method using SMC......Page 255
10.6 References......Page 260
Part III Applications of sliding mode control......Page 262
11.2 Sliding mode control and intelligence......Page 264
11.3 A sliding mode neuro-controller......Page 272
11.4 Conclusion......Page 280
11.5 References......Page 281
12.1 DC-DC power conversion......Page 284
12.2 DC-AC power conversion......Page 288
12.3 AC-DC power conversion......Page 291
12.4 Control implementation......Page 295
12.5 Example: a ZAD inverter......Page 306
12.6 References......Page 311
13.1 Introduction......Page 314
13.2 SMC in motion control system......Page 315
13.3 Timing-belt servosystem......Page 320
13.4 Control and state observers for induction machine......Page 327
13.5 Induction machine flux and velocity observer......Page 333
13.7 References......Page 336
14.1 Introduction......Page 338
14.2 Estimator for automotive alternator......Page 339
14.3 Estimation of fuelling rate and AFR using UEGO......Page 340
14.4 NOx control for EGR-VGT diesel engine......Page 343
14.5 ABS control using sliding mode optimisation......Page 347
14.7 References......Page 350
15.1 Introduction......Page 352
15.2 Sliding mode integral tracking (SMIT) control system......Page 353
15.3 Sliding mode model-following (SMMF) control system......Page 356
15.4 Second order sliding mode (SOSM) control system......Page 359
15.5 Diesel generator system......Page 360
15.6 Control systems setting and simulation......Page 361
15.7 Control systems implementation results......Page 363
15.9 References......Page 369
16.1 Introduction......Page 372
16.2 Nonlinear output-feedback control via 2-SM controllers and 2-SM differentiators......Page 373
16.3 A multi-input version of the control problem......Page 376
16.4 Mathematical model......Page 378
16.5 Test results: motion control for an underwater vehicle prototype......Page 382
16.7 References......Page 393
17.1 Introduction......Page 396
17.2 Two simple cases......Page 400
17.3 Generalisation of the control algorithm for MIMO systems......Page 405
17.4 Semiglobal stabilisation of a mechanical system via relay delayed control......Page 406
17.5 Numerical examples......Page 410
17.6 Appendix......Page 413
17.7 References......Page 418
Index......Page 420
