Control of discrete time systems based on recurrent Super-Twisting-like algorithm

I. Salgado; S. Kamal; B. Bandyopadhyay; I. Chairez; L. Fridman

doi:10.1016/j.isatra.2016.04.024

Control of discrete time systems based on recurrent Super-Twisting-like algorithm

I. Salgado, S. Kamal, B. Bandyopadhyay, I. Chairez, L. Fridman

Research output: Contribution to journal › Article › peer-review

46 Scopus citations

Abstract

Most of the research in sliding mode theory has been carried out to in continuous time to solve the estimation and control problems. However, in discrete time, the results in high order sliding modes have been less developed. In this paper, a discrete time super-twisting-like algorithm (DSTA) was proposed to solve the problems of control and state estimation. The stability proof was developed in terms of the discrete time Lyapunov approach and the linear matrix inequalities theory. The system trajectories were ultimately bounded inside a small region dependent on the sampling period. Simulation results tested the DSTA. The DSTA was applied as a controller for a Furuta pendulum and for a DC motor supplied by a DSTA signal differentiator.

Original language	English
Pages (from-to)	47-55
Number of pages	9
Journal	ISA Transactions
Volume	64
DOIs	https://doi.org/10.1016/j.isatra.2016.04.024
State	Published - 1 Sep 2016

Keywords

Discrete-time super twisting algorithm
Electro-mechanical systems
Sliding mode control
Sliding mode differentiator

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10.1016/j.isatra.2016.04.024

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title = "Control of discrete time systems based on recurrent Super-Twisting-like algorithm",

abstract = "Most of the research in sliding mode theory has been carried out to in continuous time to solve the estimation and control problems. However, in discrete time, the results in high order sliding modes have been less developed. In this paper, a discrete time super-twisting-like algorithm (DSTA) was proposed to solve the problems of control and state estimation. The stability proof was developed in terms of the discrete time Lyapunov approach and the linear matrix inequalities theory. The system trajectories were ultimately bounded inside a small region dependent on the sampling period. Simulation results tested the DSTA. The DSTA was applied as a controller for a Furuta pendulum and for a DC motor supplied by a DSTA signal differentiator.",

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AU - Salgado, I.

AU - Kamal, S.

AU - Bandyopadhyay, B.

AU - Chairez, I.

AU - Fridman, L.

PY - 2016/9/1

Y1 - 2016/9/1

N2 - Most of the research in sliding mode theory has been carried out to in continuous time to solve the estimation and control problems. However, in discrete time, the results in high order sliding modes have been less developed. In this paper, a discrete time super-twisting-like algorithm (DSTA) was proposed to solve the problems of control and state estimation. The stability proof was developed in terms of the discrete time Lyapunov approach and the linear matrix inequalities theory. The system trajectories were ultimately bounded inside a small region dependent on the sampling period. Simulation results tested the DSTA. The DSTA was applied as a controller for a Furuta pendulum and for a DC motor supplied by a DSTA signal differentiator.

AB - Most of the research in sliding mode theory has been carried out to in continuous time to solve the estimation and control problems. However, in discrete time, the results in high order sliding modes have been less developed. In this paper, a discrete time super-twisting-like algorithm (DSTA) was proposed to solve the problems of control and state estimation. The stability proof was developed in terms of the discrete time Lyapunov approach and the linear matrix inequalities theory. The system trajectories were ultimately bounded inside a small region dependent on the sampling period. Simulation results tested the DSTA. The DSTA was applied as a controller for a Furuta pendulum and for a DC motor supplied by a DSTA signal differentiator.

KW - Discrete-time super twisting algorithm

KW - Electro-mechanical systems

KW - Sliding mode control

KW - Sliding mode differentiator

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JO - ISA Transactions

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Control of discrete time systems based on recurrent Super-Twisting-like algorithm

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Keywords

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