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Design of Adaptive Sliding Mode Controllers for Discrete-time Systems with Matched Perturbations

Based on the Lyapunov stability theorem, a methodology of designing robust discrete-time model reference variable structure state tracking controller is proposed in this thesis for a class of multi-input multi-output (MIMO) discrete-time systems. This variable structure controller is composed of three types of controllers. The first one is the feedback control law, which can eliminate the nominal term in the derivative of a Lyapunov function. The second one is the switching control law, which can determine the decreasing rate of the Lyapunov function. The third one is the adaptive control law, which is used to overcome the perturbations. The resultant robust variable structure controllers are capable of driving all the trajectories of tracking errors toward a small bounded region. The information of upper bound of the perturbation, which is not a constant and is dependent on the norm of state variable, is not required beforehand due to some adaptive mechanisms are embedded in the proposed control scheme, and the stability of the overall controlled system is guaranteed. A numerical example and a practical example are given to demonstrate the feasibility of the proposed control scheme.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0120108-143916
Date20 January 2008
CreatorsHou, Guan-Yin
ContributorsChun-Hsiung Fang, Chih-Chiang Cheng, Tzuu-Hseng S. Li
PublisherNSYSU
Source SetsNSYSU Electronic Thesis and Dissertation Archive
LanguageEnglish
Detected LanguageEnglish
Typetext
Formatapplication/pdf
Sourcehttp://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0120108-143916
Rightsnot_available, Copyright information available at source archive

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