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Variable structure control of a class of uncertain systems |
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| Authors: | Mehmet Önder Efe [Author Vitae] Cem Ünsal [Author Vitae] |
| Affiliation: | a Department of Mechatronics Engineering, Atilim University, Incek, Ankara TR-06836, Turkey b Institute for Complex Engineered Systems, Carnegie Mellon University, Pittsburgh, PA 15213-3890, USA c Electrical and Electronic Engineering Department, Bogazici University, Bebek, Istanbul 34345, Turkey d School of Electrical and Computer Engineering, RMIT University, P.O. Box 2476V, Melbourne Vic. 3001, Australia |
| Abstract: | This brief paper proposes a method for tuning the parameters of a variable structure controller. The approach presented extracts the error at the output of the controller and applies a nonlinear tuning law using this error measure. The adaptation mechanism drives the state tracking error vector to the sliding hypersurface and maintains the sliding mode. In the simulations, the approach presented has been tested on the control of Duffing oscillator and the analytical claims have been justified under the existence of measurement noise, uncertainty and large nonzero initial errors. |
| Keywords: | Sliding mode control Adaptive tuning Nonlinear systems Robust control |
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