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Multirate output feedback based discrete integral sliding mode control for system with uncertainties

Ngadengon, Rafidah and Md. Sam, Yahaya and Hamdan, Rohaiza and A. Jalil, Mohd Hafiz and Abdul Kadir, Herdawatie (2017) Multirate output feedback based discrete integral sliding mode control for system with uncertainties. In: Communications in Computer and Information Science. Modeling, Design and Simulation of Systems, 751 . Springer Nature Singapore Pte Ltd., pp. 712-722. ISBN 9789811064630

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Abstract

This paper presents the design approach of Multirate Output Feedback (MROF) based Discrete Integral Sliding Mode Control (DISMC) for system with uncertainties. Firstly, the state representing the MROF has to be identified. The discrete integral sliding surface were selected in order to design the controller. The MROF that used output feedback with two different sampling times which are slow and fast rate is then combined with the DISMC to control the uncertain system. The reachability condition and stability are also considered and presented. Through extensive computer simulation, it shows that the proposed controller’s capable to track the reference input even though uncertainties present in the system. The findings demonstrated that the MROF based DISMC provided better system response as compared to the Discrete Linear Quadratic Regulator (DLQR) and discrete Proportional Integral Derivative (PID).

Item Type: Book Section
Uncontrolled Keywords: Multirate output feedback; sliding mode control; discrete integral; inverted pendulum system
Subjects: Q Science > QA Mathematics > QA76 Computer software
Divisions: Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
Depositing User: Mr. Mohammad Shaifulrip Ithnin
Date Deposited: 16 Oct 2018 00:57
Last Modified: 16 Oct 2018 00:57
URI: http://eprints.uthm.edu.my/id/eprint/10617
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