A comprehensive approach to the input/output analysis of a class of secondorder sliding mode control (2-SMC) systems is developed. Linear SISO plants with the generalized suboptimal 2-SMC algorithm are investigated. It is shown that in order to evaluate the properties of robustness against the presence of external perturbations the generalized suboptimal controller can be replaced by a proper constant gain, which is called equivalent gain. The approximate DF method, and the theoretically exact LPRS method, are developed for computing the equivalent gain. It results from the presented analysis that the considered algorithm possesses an higher equivalent open-loop gain as compared to the standard relay. A thoroughly discussed worked example confirms the theoretical results and shows the feasibility of the presented procedures.
On the transfer properties of second-order sliding mode control systems
PISANO, ALESSANDRO;USAI, ELIO
2008-01-01
Abstract
A comprehensive approach to the input/output analysis of a class of secondorder sliding mode control (2-SMC) systems is developed. Linear SISO plants with the generalized suboptimal 2-SMC algorithm are investigated. It is shown that in order to evaluate the properties of robustness against the presence of external perturbations the generalized suboptimal controller can be replaced by a proper constant gain, which is called equivalent gain. The approximate DF method, and the theoretically exact LPRS method, are developed for computing the equivalent gain. It results from the presented analysis that the considered algorithm possesses an higher equivalent open-loop gain as compared to the standard relay. A thoroughly discussed worked example confirms the theoretical results and shows the feasibility of the presented procedures.
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