Variable structure control of nonlinear multivariable systems: a tutorial

Author

DeCarlo, Raymond A. ; Zak, Stanislaw H. ; Matthews, Gregory P.

Author_Institution

Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA

Volume

76

Issue

3

fYear

1988

fDate

3/1/1988 12:00:00 AM

Firstpage

212

Lastpage

232

Abstract

The design of variable-structure control (VSC) systems for a class of multivariable, nonlinear, time-varying systems is presented. Using the Utkin-Drazenovic method of equivalent control and generalized Lyapunov stability concepts, the VSC design is described in a unified manner. Complications that arise due to multiple inputs are examined, and several approaches useful in overcoming them are developed. Recent developments are investigated, as is the kinship of VSC and the deterministic approach to the control of uncertain systems. All points are illustrated by numerical examples. The recent literature on VSC applications is surveyed

Keywords

multivariable control systems; nonlinear control systems; stability; time-varying systems; Utkin-Drazenovic method; deterministic approach; equivalent control; generalized Lyapunov stability; multiple inputs; nonlinear multivariable systems; time-varying systems; uncertain systems; variable-structure control; Control systems; Ear; Feedback control; Lyapunov method; MIMO; Nonlinear control systems; Process design; Switches; Time varying systems; Tutorial; Uncertain systems;

fLanguage

English

Journal_Title

Proceedings of the IEEE

Publisher

ieee

ISSN

0018-9219

Type

jour

DOI

10.1109/5.4400

Filename

4400