Exploiting a particular system setting, this paper discusses approaches for the design of sliding mode control laws based on a sampling time dependent specified accuracy. It is well-known that this accuracy is ensured by the implementation of a control law of appropriate sliding order. However, it turns out, that in a discrete time framework this also may be achieved by a sliding mode controller of lower order enhanced by a disturbance estimation scheme. In this context the combination of a 2nd-order sliding mode control with a first-order disturbance estimator is analyzed in particular. The achieved performance is evaluated in a numerical example as well as in a practical experiment.
|Title of host publication||14th International Workshop on Variable Structure Systems (VSS)|
|Number of pages||159|
|Publication status||Published - Jul 2016|
|Event||14th International Workshop on Variable Structure Systems (VSS) - Nanjing, China|
Duration: 1 Jun 2016 → 4 Jun 2016
|Conference||14th International Workshop on Variable Structure Systems (VSS)|
|Period||1/06/16 → 4/06/16|