Sliding Mode Control and State Estimation for a Class of Nonlinear Singularly Perturbed Systems |
| |
Authors: | R. Castro-Linares Ja. Alvarez-Gallegos V. Vásquez-López |
| |
Affiliation: | (1) Department of Electrical Engineering, CINVESTAV-IPN, Apdo. Postal 14-740, 07300 Mexico, D.F., Mexico;(2) Department of Electrical Engineering, CINVESTAV-IPN, Apdo. Postal 14-740, 07300 Mexico, D.F., Mexico |
| |
Abstract: | This paper is concerned with the design of a controller-observer scheme for the exponential stabilization of a class of singularly perturbed nonlinear systems. The controller design uses a sliding mode technique and is divided in two phases: slow feedback control and fast feedback control so that a final composite control is obtained. Assuming that only the fast state is available and the system's output is a function of the slow state, an observer design is presented. A stability analysis is also made to provide sufficient conditions for the ultimate boundedness of the full order closed-loop system when the slow state is estimated by means of the observer. An application to the model of a permanent magnet stepper motor is given to show the controller-observer methodology and stability analysis. |
| |
Keywords: | nonlinear systems singular perturbations state estimation sliding-mode stabilization |
本文献已被 SpringerLink 等数据库收录! |
|