Sliding-mode controller design with internal model principle for systems subject to periodic signals

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper proposes a sliding-mode control (SMC) scheme based on the internal model principle (IMP) for robust reference tracking and disturbance rejection. The linear IMP controller is known for the capability of perfect tracking and disturbance rejection with an internal model of exogenous signals, while the SMC controller is robust to system perturbations and exogenous signals with unknown dynamics. In this paper, an SMC design based on IMP is proposed to combine the best feature of these two fundamentally different but effective methods. Furthermore, with the help of the SMC, an initial state of the internal model is determined independently of system perturbations in order that transient performance is greatly improved as compared with that of the linear IMP controller. In addition, by properly assigning the initial state of the internal model, a sliding control law is derived to ensure the existence of a sliding mode during an entire response. This global sliding motion yields excellent robustness of the entire system at the beginning of system response and afterwards. Simulation results show the feasibility of the proposed scheme.

Original languageEnglish
Title of host publicationProceedings of the 2004 American Control Conference (AAC)
Pages1952-1957
Number of pages6
DOIs
Publication statusPublished - 2004 Nov 29
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: 2004 Jun 302004 Jul 2

Publication series

NameProceedings of the American Control Conference
Volume3
ISSN (Print)0743-1619

Other

OtherProceedings of the 2004 American Control Conference (AAC)
CountryUnited States
CityBoston, MA
Period04/6/3004/7/2

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Keywords

  • Internal Model Principle
  • Sliding-Mode Control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Lu, Y. S. (2004). Sliding-mode controller design with internal model principle for systems subject to periodic signals. In Proceedings of the 2004 American Control Conference (AAC) (pp. 1952-1957). (Proceedings of the American Control Conference; Vol. 3). https://doi.org/10.1109/ACC.2004.182388