Dynamic Sliding Mode Control of Non-Minimum Phase Systems

Abstract

A newly developed dynamic sliding mode control technique for multiple input systems which may be not dynamic feedback linearisable is extended to the control of nonlinear nonminimum phase systems (corresponding zero dynamics have no finite escape time). A thin layer is introdued around the sliding surface. Outside the layer, the sliding mode controller is used; inside the layer, the controller is designed to asymptotically (exponentially) stabilise the dynamic compensator. The method is illustrated by the control of the Inverted Double Pendulum.