TY - JOUR
T1 - ℒ2-gain tuning of variable structure SISO systems of relative degree n
AU - Osuna, Topacio
AU - Orlov, Yury
AU - Aguilar, Luis T.
N1 - Publisher Copyright:
© 2017, © 2017 Informa UK Limited, trading as Taylor & Francis Group.
PY - 2018/11/2
Y1 - 2018/11/2
N2 - The present paper extends the L2-gain analysis towards variable structure systems (VSS) with sliding-mode (SM) dynamics. The developed analysis is applied to feedback linearisable VSS, driven by standard SM algorithms of the first order. Constructive parameter-tuning of the resulting closed-loop system to possess the L2-gain less than a desired attenuation level is additionally deduced. The proposed tuning is shown to be capable not only of rejecting matched uniformly bounded disturbances but also of attenuating unbounded ones, including mismatched disturbances. Numerical simulations of an inverted pendulum, driven by a first-order SM controller, are involved to support the theory in the presence of the position measurement inaccuracy, being a source of a mismatched disturbance.
AB - The present paper extends the L2-gain analysis towards variable structure systems (VSS) with sliding-mode (SM) dynamics. The developed analysis is applied to feedback linearisable VSS, driven by standard SM algorithms of the first order. Constructive parameter-tuning of the resulting closed-loop system to possess the L2-gain less than a desired attenuation level is additionally deduced. The proposed tuning is shown to be capable not only of rejecting matched uniformly bounded disturbances but also of attenuating unbounded ones, including mismatched disturbances. Numerical simulations of an inverted pendulum, driven by a first-order SM controller, are involved to support the theory in the presence of the position measurement inaccuracy, being a source of a mismatched disturbance.
KW - Robust analysis
KW - mechanical applications
KW - sliding modes
KW - variable structure systems
UR - http://www.scopus.com/inward/record.url?scp=85010641825&partnerID=8YFLogxK
U2 - 10.1080/00207179.2016.1272717
DO - 10.1080/00207179.2016.1272717
M3 - Artículo
SN - 0020-7179
VL - 91
SP - 2422
EP - 2444
JO - International Journal of Control
JF - International Journal of Control
IS - 11
ER -