An adaptive-dynamic sliding mode controller for non-minimum phase systems

Abstract

This paper presents a new algorithm for designing dynamic sliding-mode controllers. The proposed controller is based on dynamic sliding manifolds to circumvent the difficulties associated with the conventional sliding mode controllers in the face of non-minimum phase systems. Unlike previous works, a proper and easy to implement algorithm is presented for designing the dynamic sliding manifold which facilitates the design of the controller. The output tracking problem in nonlinear non-minimum phase systems with matched and unmatched disturbances and matched nonlinearities is addressed. Then, the performance of the dynamic sliding mode controller is significantly improved by combining the given dynamic sliding manifold with online parameter adaptation. Simulations results are presented to demonstrate the effectiveness of the proposed sliding mode controller in terms of performance, robustness and stability.