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Output tracking via sliding modes in causal systems with time delay modeled by higher order pade approximations

Kosiba, E.A., Liu, G., Shtessel, Y.B. and Zinober, A.S.I. (2006) Output tracking via sliding modes in causal systems with time delay modeled by higher order pade approximations. In: Proceedings of the International Workshop on Variable Structure Systems. International Workshop on Variable Structure Systems 2006 , VSS'06 , 5-7 June, 2006, Alghero, Italy. Institute of Electrical and Electronics Engineers , pp. 250-255. ISBN 1-4244-0208-5

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Output tracking in a SISO causal uncertain nonlinear system with an output subject to a time delay is considered using sliding mode control. A higher order Pade approximation to a delay function with a known time delay is used to construct a model of a transformed system without a time delayed output and is employed in a feedback sliding mode control. This model functions as a predictor of the plant states and the plant output, but is of nonminimum phase due to the application of the Pade approximation. The method of the stable system center is used to stabilize the internal dynamics of this plant model, and a control is developed using a sliding surface to allow the plant to track an arbitrary reference profile given by an exogenous system with a known characteristic equation. Simulations of the system are performed for the plant model using a first, second and third order Pade approximations and a controller in plant feedback mode. Numerical examples for Pade approximations of increasing order are considered and compared

Item Type: Proceedings Paper
Copyright, Publisher and Additional Information: © Copyright 2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Keywords: SISO causal uncertain nonlinear system; feedback sliding mode control; higher order Pade approximations; output tracking; time delay model
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Science (Sheffield) > School of Mathematics and Statistics (Sheffield)
Depositing User: Mrs Megan Hobbs
Date Deposited: 12 Apr 2010 09:29
Last Modified: 18 Nov 2015 07:51
Published Version: http://dx.doi.org/10.1109/VSS.2006.1644526
Status: Published
Publisher: Institute of Electrical and Electronics Engineers
Identification Number: 10.1109/VSS.2006.1644526
URI: http://eprints.whiterose.ac.uk/id/eprint/10698

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