Nested Sliding Mode Controller for MIMO System Using High Gain Feedback
Yogesh Kumar Gupta1, Ojasvi Bhatia2, Fanindra Bhushan3
1Yogesh Kumar Gupta, Department of Electronics and Communications Engg and Electrical Engineering, Hindustan Institute of Technology and Management Agra, India.
2Ojasvi Bhatia, Department of Electronics and Communications Engg and Electrical Engineering, Hindustan Institute of Technology and Management Agra, India.
3Fanindra Bhushan, Department of Electronics and Communications Engg and Electrical Engineering, Hindustan Institute of Technology and Management Agra, India.
Manuscript received on July 20, 2013. | Revised Manuscript received on August 03, 2013. | Manuscript published on August 30, 2013. | PP: 211-213 | Volume-2, Issue-6, August 2013. | Retrieval Number: F2016082613/2013©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The paper presents a new algorithm for sliding mode control for MIMO system represented in block companion form. If the system does not posses singularly perturbed structure, it can be made to possess singularly perturbed structure using high gain feedback. Here the block companion form of MIMO is used to design nested sliding mode control using high gain feedback concept. The individual high gain in each stage of decomposition is so applied that η-reachability condition is satisfied, so phenomenon of sliding under sliding occurs till last stage of decomposition and design of controller for higher order system becomes simpler. For maintaining sliding under sliding, we take sliding surface as incremental basis where sliding variable becomes generalized state vector for next sliding surface. Finally, we get a composite controller with robustness through variable structure control design using Lyapunov function. This proposed design method is illustrated with a 6 th order two input system.
Keywords: Multi timescale decomposition, High Gain Feedback, Incremental sliding mode control, Sliding under sliding.