Title :
MATLAB Toolbox for singular LQ based Sliding Mode Control design
Author :
Castillo, Ismael ; Fridman, L.
Author_Institution :
Nat. Autonomous Univ. of Mexico (UNAM), Mexico City, Mexico
Abstract :
One of the most popular methods for sliding mode surface design is based on the solution of singular LQ optimal stabilization problem (SOSP). The extension of the SOSP for an arbitrary singularity index allows to unify the design of sliding surfaces of an arbitrary relative degree and the selection of the corresponding Higher Order Sliding Modes Controller (HOSMC). This allows us to automate the design of sliding surfaces in a MATLAB Toolbox. Te purpose of this paper is, establish the theoretical background of sliding mode surface design based on a LQ Singular performance index and the MATLAB Toolbox design.
Keywords :
control engineering computing; control system synthesis; linear quadratic control; mathematics computing; variable structure systems; HOSMC; MATLAB toolbox; SOSP; arbitrary relative degree; arbitrary singularity index; higher order sliding modes controller; singular LQ optimal stabilization problem; sliding mode surface design; Observability; Performance analysis; Polynomials; Riccati equations; Sliding mode control; Vectors;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760541
