Sliding mode control of uncertain linear systems based on a high gain observer free of peaking
| Authors: | Cunha Jose Paulo V. S., State University of Rio de Janeiro, Brazil
Hsu Liu, COPPE/Federal University of Rio de Janeiro, Brazil
Costa Ramon R., COPPE/Federal University of Rio de Janeiro, Brazil
Lizarralde Fernando, COPPE/Federal University of Rio de Janeiro, Brazil |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Sliding Mode Control II |
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| Keywords: | Variable-structure control, sliding mode, high gain observer, model reference control, peaking phenomena. |
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Abstract
A model-reference variable structure controller based on a high gain observer (HGO) is proposed and analyzed. For single-input-single-output (SISO) linear plants with relative degree larger than one, the switching law is generated using the HGO state while the modulation function in the control law is generated using signals from state variable filters free of high gains. This scheme achieves global exponential stability with respect to a small residual set and does not generate the peaking phenomena.
