Title :
Reduced-Order Observer in the Sliding-Mode Control of Nonlinear Nonaffine Systems
Author :
Bartolini, Giorgio ; Punta, Elisabetta
Author_Institution :
Dept. of Electr. & Electron. Eng., Univ. of Cagliari, Cagliari, Italy
Abstract :
The note considers the variable-structure control of nonlinear known nonaffine systems when the state vector is not completely available and the use of observers is required. The strategy of introducing integrators in the input channel is exploited to enlarge the class of tractable control systems. A new reduced-order observer is proposed and conditions are found under which it is proven the convergence to the unique ideal solution of both system and observer. The control problem is solved by forcing a sliding regime for the observer, while satisfying an exponential stability criterion for the observation error state equation.
Keywords :
error analysis; nonlinear control systems; observers; reduced order systems; variable structure systems; integrator; nonlinear nonaffine system; observation error state equation; reduced-order observer; sliding-mode control; tractable control system; variable-structure control; Control systems; Convergence; Error correction; Jacobian matrices; Linear matrix inequalities; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Sliding mode control; Stability criteria; Nonlinear nonaffine systems; nonlinear observers; reduced order observers; sliding mode control;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2010.2053450
