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Discrete time output feedback sliding mode control for nonlinear MIMO system: a stepper motor case

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Title Discrete time output feedback sliding mode control for nonlinear MIMO system: a stepper motor case
 
Creator BANDYOPADHYAY, B
THAKAR, VK
 
Subject hyperplane design
quasi sliding mode
output feedback sliding mode
switching function
nonlinear
motion control
stepper motor
 
Description This article, presents discrete sliding mode control algorithm using multirate output feedback for control of stepper motor. The algorithm developed by the authors uses past output samples and past control inputs. When all the states of the system are neither physical variable nor available for measurement, multirate output feedback can be used. The stepper motor is known to be a differentially flat system. The dynamics of the stepper motor are highly nonlinear, hence feedback linearization based on endogenous feedback has been used. The linear model is obtained and multirate output feedback-based discrete sliding mode control has been designed. The discrete sliding mode control with multirate output feedback has been applied for regulator as well as tracking case for the motor. The proposed algorithm uses only two outputs. It is essentially shown that first output needs to be sampled only once and second output must be sampled at least thrice in every tau sampling interval in order to achieve acceptable performance. The system parameter variation has been considered and the results obtained are found to be satisfactory. Thus, it has been shown that discrete sliding mode control algorithm using multirate output feed back can be extended to a class of nonlinear MIMO system.
 
Publisher TAYLOR & FRANCIS LTD
 
Date 2011-08-30T22:51:59Z
2011-12-26T12:59:13Z
2011-12-27T05:50:14Z
2011-08-30T22:51:59Z
2011-12-26T12:59:13Z
2011-12-27T05:50:14Z
2008
 
Type Article
 
Identifier INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 39(1), 89-104
0020-7721
http://dx.doi.org/10.1080/00207720701711594
http://dspace.library.iitb.ac.in/xmlui/handle/10054/12493
http://hdl.handle.net/10054/12493
 
Language en