Design of Event-Triggered Integral Sliding Mode Controller for Systems with Matched and Unmatched Uncertainty

Abstract

This book chapter explores the design of aperiodic sampled-data implementation of Integral Sliding Mode Controller (ISMC) for a linear continuous-time system with matched and unmatched uncertainty. The optimal value of the projection matrix is chosen and gain of controller is redesigned such that the proposed design strategy can ensure the asymptotic stability of the system in presence of matched and unmatched uncertainty. A triggering condition has been derived based on the defined measurement error which ensures the sufficient condition for the existence of the practical sliding mode. To guarantee the Zeno free behavior of the system, the existence of a positive lower bound of the inter-event execution time has been shown. This proposed methodology can reduce the number of control computation in comparison to the periodic implementation of ISMC. Finally, the simulation result is provided with a numerical system to illustrate the benefits of the proposed approach.