The sliding mode control is a non linear system, it is derived from variable structure system. Based on your location, we recommend that you select. The control scheme is characterized by a discrete time integral switching surface which inherits the desired properties of the continuous time integral switching surface, such as full order sliding manifold with eigenvalue assignment, and. Sliding mode control encyclopedia of life support systems. Due to sliding mode control methodology, a sliding surface is determined and. The system is a second order dynamic system, consisting of a mass and a damper. Since there is no use of any switching term in the proposed dsmc. Within the lmis framework, a sufficient condition, which is dependent on the maximum and minimum delay bounds, has been established to guarantee the existence of a linear sliding surface. Pdf on jan 1, 2006, bijnan bandyopadhyay and others published discrete time sliding mode control. The sliding mode manifold and the corresponding lyapunov function are obtained if the iterative sos optimization program has a solution. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior. The book covers continuous time sliding mode control and estimation problems.
This paper treats the sliding mode control for a discrete system, where the sampling interval. Abstractin this paper, discretetime quasislidingmode con trol systems are considered. The use of zoh circuits however show various kinds of irregularities including subharmonic oscillations, chaos. Analysis and implementation of discrete time sliding mode control. Analysis and implementation of discretetime sliding mode control.
The designed method not only ensures the system robustness, but also alleviates the system chattering and improves the control performances. Sliding mode pdf leads to socalled sliding modes, which became main operation modes in the. Professor zoran gaji c sliding mode control is a form of variable structure control which is a powerful tool to cope with external disturbances and uncertainty. Performance comparison of sliding mode control and. The robustness of continuoustime sliding mode control is obtained by high frequency switching of highgain control inputs. Sliding mode controller design sliding mode control is a special version of an ono control.
The proposed control techniques are evaluated on a laboratory test setup. The sliding mode control has been designed for a continuous system, but it is realized by a digital control system. It is well known for their stability and robustness against parameters, line and load variation. Analysis and implementation of discretetime sliding mode control olivier huber to cite this version. Discretetime sliding mode control for networked control. Introduction the control problem sliding mode techniques were perhaps originally best known for their potential as a robust control method, and evolved from pioneering work in the 1960s in the former soviet union. Introducing a proper sliding surface is an important step in the design of sliding mode controllers. Analysis and implementation of discrete time sliding mode control olivier huber to cite this version. From a geometrical point of view, the equivalent control method does the same job.
It can be used only when the control signal ut can switch at high frequency. In this paper, the problem of sliding mode control of a discretetime switched system with timevarying delay has been investigated. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. First, a discretetime integral sliding mode ism control scheme for sampleddata systems is discussed. In this paper, a novel reaching law for discrete time slidingmode control is proposed. On the discretetime integral sliding mode control core. Sliding mode control of discretetime switched systems with. Index termssliding mode control, finite time controller. The sliding mode control is designed to reach the sliding surface in. This book presents novel algorithms for designing discretetime sliding mode controllers dsmcs for networked control systems ncss with both types of fractional delays namely deterministic delay and random delay along with different packet loss conditions such as single packet loss and multiple packet loss that occur within the sampling period. A novel exponential reaching law of discretetime sliding. Its application of a discontinuous control signal that forces the system to slide along a crosssection of the systems normal behaviour. With the increasing use of computers and discrete time samplers in controller implementation in the recent past, discrete time systems and computer based control have become important topics.
Sliding mode control thus can be broadly divided into two phases, the reaching phase and the sliding phase. Also a comparison between discretetime sliding mode control and continuous time sliding mode control is presented for a relatively fast and slow sampling frequency. Pdf 4 multirate output feedback based discretetime quasisliding mode control of time delay systems. Sliding mode control of induction motor using simulation. Time sliding mode control with outputs of relative degree. Discretetime sliding mode control design sciencedirect. The motivation of this controller is to introduce the lyapunov function vx. The ideal sliding mode occurs if there exists a finite tim tes such that y cx 0, t t s 3 where the time ts is th time e when the sliding mode is reached. Sliding mode observers historical background and basic.
Control of svc based on the sliding mode control method. Recent developments on sliding mode control and its applications for complex systems over the past few decades, sliding mode control smc theory has been widely applied in practical complex systems including robot manipulators, spacecraft, vehicles, power systems, and automotive engines, etc. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Discrete sliding mode control has been extensively studied to address some basic questions associated with the sliding mode control of discrete time systems with relatively low switching frequencies. In this paper, a novel timevarying sliding mode control smc algorithm based on sliding mode prediction for a class of discretetime nonlinear uncertain coupled systems is presented.
Pdf a discrete sliding mode control for a multivariable. In this paper, we are interested to prove the performances of discrete sliding mode control for multivariable systems with time delays. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces.
Mar 26, 2015 first, a discrete time integral sliding mode ism control scheme for sampleddata systems is discussed. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics. Analysis and implementation of discretetime sliding mode. Dynamics of discretetime slidingmodecontrol uncertain systems with a disturbance compensator shaocheng qu, member, ieee, xiaohua xia, fellow, ieee, and jiangfeng zhang abstractin this paper, dynamical behaviors of the discretetime slidingmodecontrol dsmc uncertain systems are studied.
This work deals with sliding mode control of discrete. In the reaching phase the trajectory reaches the sliding mode and in the sliding phase the trajectory stays on the sliding mode for all further time. The control scheme is characterized by a discretetime integral switching surface which inherits the desired properties of the continuoustime integral switching surface, such as full order sliding manifold with eigenvalue assignment, and. Moreover, some important control problems involving uncertain mechanical. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Choose a web site to get translated content where available and see local events and offers. The robustness of continuous time sliding mode control is obtained by high frequency switching of highgain control inputs. Variable structure control systems vscs evolved from the pioneering work of emelyanov and barbashin in the early 1960s in russia. Time discretization of an ode and discretetime controller. To adapt the slidingmode philosophy for a digital controller, the sampling frequency should be increased compared to other types of control method. Sliding mode control of a discrete system sciencedirect.
However, the conventional second order sliding mode control suffers from the disadvantage of the increased information demand of the time derivative of the sliding variable gonzalez et al. Pdf a new algorithm for discretetime sliding mode control using. Sliding mode control utilizes discontinuous control laws to drive the system state trajectory onto a specified surface in the state space, the so called sliding or switching surface, and to keep the system state on this manifold for all the subsequent times. In this paper, the sliding surface is defined based on inc method. Sliding mode control of discrete time weakly coupled systems by prashanth kumar gopala thesis director. The statefeedback control law is not a continuous function of time. Design is decoupled into two independent subproblems. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. New methodologies for adaptive sliding mode control f. Dynamics of discretetime slidingmodecontrol uncertain. Field oriented induction servo motor, sliding mode control system, adaptive sliding mode control system. Even after 12 years of its publication, the book is in must read category.
This paper presents a stable discrete sliding mode control insensitive to the choice of sampling. The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. Discrete sliding mode control has been extensively studied to address some basic questions associated with the sliding mode control of discretetime systems with relatively low switching frequencies. Sliding mode control theory seeks to produce controllers to over some such mismatches. Discretetime quasislidingmode control strategies ieee xplore. Moreover, this finite time step is same as the time step at which the output hits the sliding surface. The concept of the discretetime sliding mode is clarified and a new sufficient condition for its existence is presented. Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. The reaching law is established based on an exponential term that dynamically adapts to the variation of the. Jun 22, 2005 the sliding mode may be originated in discrete time systems with continuous control after a finite time interval, while any manifold with state trajectories may be reached asympotically only in continuous time systems with continuous control precisely speaking for systems governed by differential equations with lipschitzian righthand sides. The analysis brings forward important advancements in the direction of discrete. Conclusion acknowledgement glossary bibliography biographical sketch summary the paper presents the basic concepts, mathematical and design aspects of sliding mode control.
Sliding mode control of induction motor using simulation approach. After giving a kind of timevarying sliding mode function, a sliding mode prediction model is used to predict the future information of sliding mode. Sliding mode control was first proposed in early 1950s in soviet union by emelyanov and several coresearchers. Designing robust control by sliding mode control technique. Extended state observerbased sliding mode control with. However, the complex dynamical behaviours due to discretization in. In order to improve the performance of external disturbance rejection of permanent magnet synchronous motor pmsm in speed control, sliding mode control with extended state observer is adopted in this paper. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of statespace methods. It is shown that the main advantages of sliding mode control are order reduction. An adaptive sliding mode control asmc scheme is proposed for the synchronization of two chaotic nonlinear systems. Current sliding mode control with gainscheduled parameters.
The key idea is to apply strong control action when the system deviates from the desired behavior. After seventies, smc has become more popular control strategies and powerful control technology to deal with the nonlinear uncertain system. First, an exponential functionbased sliding mode reaching law esmrl is developed. The control of nonlinear systems is provided by either linearizing the systems or using a nonlinear control technique, such as sliding mode control smc. In this paper, the problem of sliding mode control of a discretetime switched system with timevarying delay is investigated. It replace the discontinuous control on the intersection of the switching. In this paper, the problem of sliding mode control of a discrete time switched system with time varying delay is investigated. Abstracta new discretetime integral sliding mode control. Sliding mode control in discretetime and difference. By employing feedback correction and receding horizon. One is the discretetime sliding mode control approach, 14, and other is the direct discretization of equivalent sm control using zeroorder hold zoh circuit 15. By using the average dwell time approach and the piecewise lyapunov function technique, a sufficient condition is proposed to guarantee the exponential stability of the switched systems with time delays. Sliding mode control of electromechanical systems heide brandtst.
The sliding mode may be originated in discretetime systems with continuous control after a finite time interval, while any manifold with state trajectories may be reached asympotically only in continuoustime systems with continuous control precisely speaking for systems governed by differential equations with lipschitzian righthand sides. Extended state observerbased sliding mode control with new. With the increasing use of computers and discretetime samplers in controller implementation in the recent past, discretetime systems and computer based control have become important topics. Example on sliding mode control file exchange matlab. Index termssliding mode control, gainscheduled, permanent magnet synchronous machine. New methodologies for adaptive sliding mode control.
To avoid the chattering problem in the reachinglawbased discrete time sliding mode control dsmc and the generation of overlarge control action in the equivalent control based dsmc, a new dsmc method based on nonsmooth control is proposed in this paper. The ideas did not appear outside of russia until the mid 1970s when a book by itkis and a survey paper by utkin 1 are published in english. Maximum power point tracking using sliding mode control for. It is proved that the ultimate band about the sliding surface could be greatly. Maximum power point tracking using sliding mode control. The sliding mode control technique is characterized by the following features. In the first step, an equilibrium surface is designed and in the second step, a discontinuous control law will be designed. Sliding mode control of discretetime switched systems. Dynamics of discretetime slidingmodecontrol uncertain systems with a disturbance compensator shaocheng qu, member, ieee, xiaohua xia, fellow, ieee, and jiangfeng zhang abstractin this paper, dynamical behaviors of the discrete time slidingmodecontrol dsmc uncertain systems are studied. To ensure that the trajectory reaches the sliding mode the reaching condition. The esmrl can dynamically adapt to the variations of the controlled system, which decrease the.
So there has existed a gap between the design and realized control system. Example on sliding mode control file exchange matlab central. To adapt the sliding mode philosophy for a digital controller, the sampling frequency should be increased compared to other types of control method. Sliding mode control of discretetime systems request pdf. Pdf this paper presents a new approach for slidingmode control of discrete time systems using the reaching law approach together with. Sliding mode control in discretetime and difference systems. It also covers basic concepts of mimo systems in chapter 2 which makes it a self sufficient guide for sliding mode. Discretetime sliding mode control for uncertain networked system subject to time delay article pdf available in mathematical problems in engineering 20156. A multirate output feedback approach find, read and. Pdf on the discretetime integral slidingmode control. The new control scheme is characterized by a discretetime integral sliding manifold which inherits the desired properties of the continuoustime integral sliding manifold, such as full order sliding manifold with pole assignment, and elimination of the reaching phase.