Sliding Mode Controller Design for MIMO Discrete-time System

• Main Authors: Lin, MingHsiung, 林敏雄
• Other Authors: Cheng, Chih Chiang
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/57980216066104672644

碩士 === 國立中山大學 === 電機工程研究所 === 84 === A methodology of designing discrete-time sliding mode controllers is proposed in this thesis for a class of multi- input multi-output (MIMO) discrete system. This sliding mode controller is composed of two types of controllers. One is the equivalent control law. which can drive the state trajectories into a bounded region. The other is a switching controller, which can drive the state trajectories into a band region. The combina- tion of these two controller are robust sliding mode controllers which can drive all the state trajectories toward zero if there is no model uncertainties. However if the model uncertainties and/or disturbances exist, the state trajectories will be driven into a bounded region. Several numerical examples are also given for demonstrate the feasibility of the proposed control scheme.