다입출력 불확실 선형 플랜트를 위한 출력 예측 성능을 갖는 제어 입력 변환 적분 슬라이딩 모드 제어

Abstract

In this note, the discontinuous and continuous control input transformation integral sliding mode control(SMC)s by using the integral sliding surface without the reaching phase and with the output prediction performance as the another approaches of [34] are presented for multi input multi output(MIMO) uncertain linear plants. Theoretically discontinuous and practically continuous control input transformed variable structure system(VSS)s are proposed. The integral sliding surface with no reaching phase is suggested and its ideal sliding dynamics from a given initial condition to the origin is obtained. By using the solution of the ideal sliding dynamics, the real robust output can be pre-designed, predetermined, and predicted. The transformed control input is suggested for generating the sliding mode for the entire trajectory from any given initial condition to the origin. The closed loop exponential stability together with the MIMO existence condition of the sliding mode on the predetermined sliding surface is investigated theoretically for the complete formulation of the VSS design for the output prediction performance. Another concept of the ideal sliding dynamics is given. For practical applications, a continuous approximation of the discontinuous VSS is made by means of the modified boundary layer function. In addition, the closed loop bounded stability together with the MIMO existence condition of the sliding mode by the continuous VSS is analyzed. The discontinuity of the control input as the inherent property of the VSS is much improved. Through a design example and simulation studies, the usefulness of the proposed discontinuous and continuous control input transformed VSS controller is verified. The projected ideal sliding trajectory is given