Abstract
An original linear time varying system with matched and unmatched disturbances and uncertainties is replaced by a finite set of dynamic models such that each one describes a particular uncertain case including exact realizations of possible dynamic equations as well as external unmatched bounded disturbances. Such a trade-off between an original uncertain linear time varying dynamic system and a corresponding higher order multi model system containing only matched uncertainties leads to a linear multi-model system with known unmatched bounded disturbances and unknown matched disturbances as well. Each model from a given finite set is characterized by a quadratic performance index. The developed minimax integral sliding mode control strategy gives an optimal minimax LQ-control with additional integral sliding mode term. The design of this controller is reduced to a solution of an equivalent mini-max LQ problem that corresponds to the weighted performance indices with weights from a finite dimensional simplex. The additional integral sliding mode controller part completely dismisses the influence of matched uncertainties. Two illustrative numerical examples are presented.
| Original language | English |
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| Pages (from-to) | 2988-2993 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| State | Published - 2003 |
| Externally published | Yes |
| Event | 42nd IEEE Conference on Decision and Control - Maui, HI, United States Duration: 9 Dec 2003 → 12 Dec 2003 |