By Ahmad Taher Azar
This ebook describes the advances and functions in Sliding mode keep watch over (SMC) that's commonplace as a robust option to take on doubtful nonlinear platforms. The publication is geared up into 21 chapters which were organised via the editors to mirror a few of the issues of sliding mode regulate. The e-book offers the reader with a extensive diversity of fabric from first ideas as much as the present state-of-the-art within the quarter of SMC and commentary provided in a transparent, matter-of-fact kind. As such it truly is applicable for graduate scholars with a easy wisdom of classical keep an eye on idea and a few wisdom of state-space tools and nonlinear structures. The ensuing layout approaches are emphasised utilizing Matlab/Simulink software.
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Extra info for Advances and Applications in Sliding Mode Control systems
In Fig. 17 the angular velocity of the controlled variable θ is shown, where this variable reaches the zero value in steady state as defined by the controller and system specifications. With these results the stability of all the controlled variables is ensured by the implementation of a PD + sliding mode controller, keeping the Furuta pendulum stable when external disturbances are applied in the system. As it is proven theoretically, the appropriated sliding manifold selection is very important in order to stabilize these variables, reaching and keeping the desired values in finite time.
For this reason, this control technique is appropriate for the control and stabilization of different kind of mechanical system, obtaining a very robust controller that adjusts its parameters in real time moving and keeping the state variables in the desired trajectory. The control law of this controller is designed by combining an adaptive part with a sliding mode controller that makes the Furuta pendulum variables reach the desired values in steady state while keeping the system in the sliding manifold to obtain an asymptotically stable system.
With this analysis the results obtained by simulation were proved by an analytical method, therefore the proposed adaptive sliding mode controller for the Furuta pendulum yields better results than the other control strategies as it is corroborated in Sect. 4 due to the chattering avoidance properties of this controller. 6 Discussion In this chapter, three control strategies are shown for the control and stabilization of the Furuta pendulum. A SOSMC, a PD + SMC; and the proposed control strategy of this paper, the ASMC for the Furuta pendulum is shown.