Parameter selection method for sliding mode controllers and its application to a nonlinear physical system

Author

Senadheera, R.S. ; Pieper, J.K.

Author_Institution

Dept. of Mech. & Manuf. Eng., Calgary Univ., Alta.

fYear

2005

fDate

28-31 Aug. 2005

Firstpage

37

Lastpage

42

Abstract

In this paper, effective control parameter selection methods necessary for practical implementations of standard, first order dynamic, and complex valued sliding manifold sliding mode controllers are derived. The methods are applied to design controllers by using already presented control theory by Pieper and Shepit (1995, 1998, and 2003). Extensive real-time implementation results obtained by implementing the designed controllers to a physical fourth order cart and pendulum system demonstrate the affectivity of the method

Keywords

control system synthesis; nonlinear dynamical systems; parameter estimation; pendulums; variable structure systems; cart system; complex valued sliding manifold; controller design; nonlinear physical system; parameter selection method; pendulum system; sliding mode controller; Control systems; Control theory; Guidelines; Manufacturing; Mathematical model; Nonlinear control systems; Nonlinear dynamical systems; Real time systems; Sliding mode control; Standards development;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Conference_Location

Toronto, Ont.

Print_ISBN

0-7803-9354-6

Type

conf

DOI

10.1109/CCA.2005.1507097

Filename

1507097