On interval goal programming switching surface robust design for Integral Sliding Mode Control |
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Affiliation: | 1. College of Information and Statistics, Guangxi University of Finance and Economics, Nanning, Guangxi 530004, PR China;2. Guangxi Colleges and Universities Key Laboratory of Complex System Optimization and Big Data Processing, Yulin Normal University, Yulin 537000, PR China;3. Guangxi Key Laboratory of Hybrid Computation and IC Design Analysis, College of Sciences, Guangxi University for Nationalities, Nanning, Guangxi 530006, PR China |
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Abstract: | This paper presents a systematic technique for Integral Sliding Mode Control design applied to linear time-invariant systems, subject to disturbances, whose uncertain parameters belong to closed intervals. This approach considers a computational optimization-based procedure for the switching surface design, formulated as an interval goal programming problem, equivalent to the interval Ackermann׳s equation for the robust eigenvalue placement problem. The design objective is the minimization of the overall deviation from the specified performance for the transient response of the controlled system, which is represented by a polytope of characteristic polynomials. The controllability of interval systems is also numerically treated within an interval analysis framework. An experimental implementation of this switching surface design technique was compared with a classic robust LMI-based design procedure of the switching surface in the position control of a DC motor, coupled to different loads, to illustrate its main features and efficiency. |
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Keywords: | Variable structure systems Integral sliding mode control Robust control Interval analysis Uncertain systems |
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