Boundary Layer Eigenvalues in SISO Discrete-Time Sliding Mode Control with Observer

[+] Author and Article Information
Hanz Richter

Mechanical Engineering, Cleveland State University, Cleveland, OH 44115h.richter@csvohio.edu

Eduardo A. Misawa

Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK 74078misawa@email:.ceat.okstate.edu

See remarks.

In the general MIMO case, eigenvalues cannot be placed with multiplicity greater than the number of inputs.

J. Dyn. Sys., Meas., Control 128(3), 729-730 (Jan 10, 2006) (2 pages) doi:10.1115/1.2238875 History: Revised January 10, 2006; Received August 23, 2006

A result that allows us to specify the sliding manifold in observer-based discrete-time sliding mode control is presented. Selection of coefficients is done by analyzing the tracking error dynamics inside the boundary layer, where the closed-loop system has a linear state feedback configuration, rather than assuming that ideal sliding occurs. The result facilitates assignment of eigenvalues for the system matrix which defines such linear dynamics.

Copyright © 2006 by American Society of Mechanical Engineers
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