TY - CHAP
T1 - Switched integral sliding mode control for robust generation of self-oscillation in pendulum systems
AU - Velázquez-Velázquez, Juan Eduardo
AU - Galván-Guerra, Rosalba
AU - Iriarte, Rafael
N1 - Publisher Copyright:
© The Institution of Engineering and Technology 2018.
PY - 2018/1/1
Y1 - 2018/1/1
N2 - Self-oscillations for pendulum systems generated by a two-relay controller are robustified by using a switched integral sliding mode control. The robustification is theoretically exact, assuring the frequency and amplitude of the oscillations remain despite the presence of matched uncertainties/perturbations. To illustrate the efficacy of the proposed robustifying strategy, an inertial wheel pendulum is considered along the chapter.
AB - Self-oscillations for pendulum systems generated by a two-relay controller are robustified by using a switched integral sliding mode control. The robustification is theoretically exact, assuring the frequency and amplitude of the oscillations remain despite the presence of matched uncertainties/perturbations. To illustrate the efficacy of the proposed robustifying strategy, an inertial wheel pendulum is considered along the chapter.
KW - Inertial wheel pendulum
KW - Matched perturbations
KW - Matched uncertainties
KW - Multivariable control systems
KW - Nonlinear control systems
KW - Oscillation amplitude
KW - Oscillation frequency
KW - Pendulum systems
KW - Pendulums
KW - Perturbation techniques
KW - Relay control
KW - Robust control
KW - Robust self-oscillation generation
KW - Stability in control theory
KW - Switched integral sliding mode control
KW - Switching systems (control)
KW - Time-varying control systems
KW - Two-relay controller
KW - Uncertain systems
KW - Variable structure systems
UR - http://www.scopus.com/inward/record.url?scp=85117992575&partnerID=8YFLogxK
U2 - 10.1049/PBCE111E_ch7
DO - 10.1049/PBCE111E_ch7
M3 - Capítulo
AN - SCOPUS:85117992575
SP - 151
EP - 164
BT - The Inverted Pendulum in Control Theory and Robotics
PB - Institution of Engineering and Technology
ER -