Discrete integral variable structure control for flexible arm manipulator

This paper proposes design methodology for a modified discrete integral variable structure model following control (MDIVSMFC) approach. More general control situations, whose output is a function of all system states, are considered. The MDIVSMFC approach contains a reference model for specifying control specifications and a modified discrete integral variable structure controller for minimizing errors between the plant and the given reference model. Existence conditions for the non-ideal sliding motion are also derived in details in this paper. Position control of the tip of a single flexible link is investigated. Simulation results demonstrate enhanced control performance using the presented control strategy.