High-Performance Tracking Controller for Discrete Plant Using Nonlinear Sliding Surface
01 Sep 2009-IEEE Transactions on Industrial Electronics (Springer, Berlin, Heidelberg)-Vol. 56, Iss: 9, pp 3628-3637
TL;DR: A nonlinear sliding surface is proposed to improve the transient response for general discrete multiple-input-multiple-output linear systems with matched perturbations and it is shown that the scheme is able to achieve low overshoot and low settling time simultaneously.
Abstract: A nonlinear sliding surface is proposed to improve the transient response for general discrete multiple-input-multiple-output linear systems with matched perturbations. The tracking case is analyzed, and it is shown that the scheme is able to achieve low overshoot and low settling time simultaneously; this is not possible with a linear sliding surface. The control law is based on the discrete-time sliding mode equivalent control and thus eliminates chattering. The control law is proposed based on two approaches: (1) reaching-law-based approach which needs only disturbance bounds and (2) disturbance-observer-based approach. Multirate output feedback is used to relax the need of the entire state vector for the implementation of the control law. A magnetic tape position control application is used to show the effectiveness of the proposed scheme.
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TL;DR: Digital Control Of Dynamic Systems This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems with an emphasis on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude.
Abstract: Digital Control Of Dynamic Systems This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition): Franklin ... This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems: Gene F. Franklin ... Digital Control of Dynamic Systems, 2nd Edition. Gene F. Franklin, Stanford University. J. David Powell, Stanford University Digital Control of Dynamic Systems, 2nd Edition Pearson This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. MATLAB statements and problems are thoroughly and carefully integrated throughout the book to offer readers a complete design picture. Digital Control of Dynamic Systems, 3rd Edition ... Digital control of dynamic systems | Gene F. Franklin, J. David Powell, Michael L. Workman | download | B–OK. Download books for free. Find books Digital control of dynamic systems | Gene F. Franklin, J ... Abstract This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic... (PDF) Digital Control of Dynamic Systems Digital Control of Dynamic Systems, Addison.pdf There is document Digital Control of Dynamic Systems, Addison.pdfavailable here for reading and downloading. Use the download button below or simple online reader. The file extension PDFand ranks to the Documentscategory. Digital Control of Dynamic Systems, Addison.pdf Download ... Automatic control is the science that develops techniques to steer, guide, control dynamic systems. These systems are built by humans and must perform a specific task. Examples of such dynamic systems are found in biology, physics, robotics, finance, etc. Digital Control means that the control laws are implemented in a digital device, such as a microcontroller or a microprocessor. Introduction to Digital Control of Dynamic Systems And ... The discussions are clear, nomenclature is not hard to follow and there are plenty of worked examples. The book covers discretization effects and design by emulation (i.e. design of continuous-time control system followed by discretization before implementation) which are not to be found on every book on digital control. Amazon.com: Customer reviews: Digital Control of Dynamic ... Find helpful customer reviews and review ratings for Digital Control of Dynamic Systems (3rd Edition) at Amazon.com. Read honest and unbiased product reviews from our users. Amazon.com: Customer reviews: Digital Control of Dynamic ... 1.1.2 Digital control Digital control systems employ a computer as a fundamental component in the controller. The computer typically receives a measurement of the controlled variable, also often receives the reference input, and produces its output using an algorithm. Introduction to Applied Digital Control From the Back Cover This well-respected, marketleading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition) Test Bank `Among the advantages of digital logic for control are the increased flexibility `of the control programs and the decision-making or logic capability of digital `systems, which can be combined with the dynamic control function to meet `other system requirements. `The digital controls studied in this book are for closed-loop (feedback) Every day, eBookDaily adds three new free Kindle books to several different genres, such as Nonfiction, Business & Investing, Mystery & Thriller, Romance, Teens & Young Adult, Children's Books, and others.
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TL;DR: A comprehensive account of the key developments in this field is provided and the key technical research challenges for the future developments are examined.
Abstract: Variable Structure Systems (VSSs) have been studied extensively for over 60 years and widely used in practical applications. A particular interest in VSS is the so-called Sliding-Mode Control (SMC), which is simple in control design and robust in parameter variations and disturbances. Modern control systems nowadays are implemented through computers. This presents challenges for SMC based VSS because the digital nature of computer-control weakens the essential assumption of SMC, that is, the switching frequency should be unlimited in order to deliver effective disruptive control actions. Extensive research activities have been since undertaken in computer-controlled VSS over the last thirty years. This survey provides a comprehensive account of the key developments in this field and examines the key technical research challenges for the future developments.
174 citations
TL;DR: A new discrete reaching law with improved quasi-sliding-mode domain (QSMD) is proposed and a sliding-mode controller is designed for discrete-time systems with uncertainties by redefining the change rate as the second-order difference of the system uncertainties and adopting the continuous-approximate function.
Abstract: In this paper, a new discrete reaching law with improved quasi-sliding-mode domain (QSMD) is proposed and a sliding-mode controller is designed for discrete-time systems with uncertainties. By redefining the change rate as the second-order difference of the system uncertainties and adopting the continuous-approximate function, smaller width of the QSMD can be guaranteed. Moreover, the QSMD of the proposed reaching law is obtained and the system dynamics in and out the QSMD are theoretically analyzed. Perturbation estimation technique is employed to estimate the unknown uncertainties. Thus, no prior knowledge of the uncertainty bound is required. Both numerical simulations and experimental results on a piezoelectric actuator are presented to demonstrate the performance of the proposed method.
117 citations
Cites background from "High-Performance Tracking Controlle..."
...INTRODUCTION S LIDING-MODE control (SMC), as a nonlinear robust control strategy, has been extensively studied and successfully applied in practical systems featuring the ease of implementation and robustness in the presence of disturbances [1]–[4]....
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TL;DR: A discrete-time sliding mode inventory management strategy based on a novel non-switching type reaching law that guarantees fast convergence with non-negative, upper limited supply orders, and ensures that the maximum stock level may be specified a priori by the system designer.
Abstract: In this paper, a discrete-time sliding mode inventory management strategy based on a novel non-switching type reaching law is introduced. The proposed reaching law eliminates undesirable chattering, and ensures that the sliding variable rate of change is upper bounded by a design parameter which does not depend on the system initial conditions. This approach guarantees fast convergence with non-negative, upper limited supply orders, and ensures that the maximum stock level may be specified a priori by the system designer. Furthermore, a sufficient condition for 100% customers' demand satisfaction is derived. The inventory replenishment system considered in this paper involves multiple suppliers with different lead times and different transportation losses in the delivery channels.
96 citations
Cites background from "High-Performance Tracking Controlle..."
...A few years later, discrete-time slidingmode control systems have also been proposed [32], [41] and then analyzed in numerous significant studies [1]–[3], [5], [10], [11], [16], [17], [19], [20], [23]–[26], [28]–[31], [33], [35], [42]–[44]....
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TL;DR: A sliding-mode term is incorporated into the nonlinear high-gain observer (HGO) to realize a robust HGO to handle the state estimation of a nonlinear system perturbed by a scalar disturbance distributed by a known nonlinear vector.
Abstract: To handle the state estimation of a nonlinear system perturbed by a scalar disturbance distributed by a known nonlinear vector, a sliding-mode term is incorporated into the nonlinear high-gain observer (HGO) to realize a robust HGO. By imposing a structural assumption on the unknown input distribution vector, the observability of the disturbance with respect to the output is safeguarded, and the disturbance can be estimated from the sliding surface. Under a Lipschitz condition for the nonlinear part, the nonlinear observers are designed under the structural assumption that the system is observable with respect to any input. In the sliding mode, the disturbance under an equivalent control becomes an increment of Lipschitzian function, and the convergence of the estimation error dynamics can be proven similar to the analysis of HGOs. The proposed technique can be applied for fault detection and isolation. The simulation results for the bioreactor application demonstrate the effectiveness of the proposed method.
95 citations
References
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TL;DR: Design and analysis forVariable structure systems are surveyed in this paper and it is shown that advantageous properties result from changing structures according to this switching logic.
Abstract: Variable structure systems consist of a set of continuous subsystems together with suitable switching logic. Advantageous properties result from changing structures according to this switching logic. Design and analysis for this class of systems are surveyed in this paper.
5,076 citations
"High-Performance Tracking Controlle..." refers methods in this paper
...During the sliding mode, the system is invariant against certain parameter variations and disturbances satisfying the matching condition [1]....
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Book•
01 Jan 1980
TL;DR: This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems and thoroughly integrates MATLAB statements and problems to offer readers a complete design picture.
Abstract: From the Publisher:
This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude Both classical and modern control methods are described and applied to illustrative examples The strengths and limitations of each method are explored to help the reader develop solid designs with the least effort Two new chapters have been added to the third edition offering a review of feedback control systems and an overview of digital control systems Updated to be fully compatible with MATLAB versions 4 and 5, the text thoroughly integrates MATLAB statements and problems to offer readers a complete design picture The new edition contains up-to-date material on state-space design and twice as many end-of-chapter problems to give students more opportunities to practice the material
3,756 citations
Book•
27 Aug 1998
TL;DR: 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 state-space methods.
Abstract: In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Sliding mode control theory seeks to produce controllers to over some such mismatches. 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 state-space methods. From this basis, more advanced theoretical results are developed. Two industrial case studies, which present the results of sliding mode controller implementations, are used to illustrate the successful practical application theory.
3,355 citations
TL;DR: A tutorial account of variable structure control with sliding mode is presented, introducing in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach.
Abstract: A tutorial account of variable structure control with sliding mode is presented. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent characteristics such as invariance, robustness, order reduction, and control chattering are discussed in detail. Methods for coping with chattering are presented. Both linear and nonlinear systems are considered. Future research areas are suggested and an extensive list of references is included. >
2,884 citations
Book•
01 Jan 1999
TL;DR: Sliding mode control (SMC) is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems as mentioned in this paper, and is particularly useful for electro-mechanical systems because of its discontinuous structure.
Abstract: Sliding Mode Control (SMC) is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems. The strengths of sliding mode controllers result from the ease and flexibility of the methodology for their design and implementation. They provide inherent order reduction, direct incorporation of robustness against system uncertainties and disturbances, and an implicit stability proof. They also allow for the design of high performance control systems at low costs. SMC is particularly useful for electro-mechanical systems because of its discontinuous structure. In fact, since the hardware of many electro-mechanical systems (such as electric motors) prescribes discontinuous inputs, SMC has become the natural choice for direct implementation. The book is intended primarily for engineers and establishes an interdisciplinary bridge between control science, electrical and mechanical engineering.
2,593 citations
"High-Performance Tracking Controlle..." refers methods in this paper
...During the sliding mode, the system is invariant against certain parameter variations and disturbances satisfying the matching condition [1]....
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