| Title |
Design of Sliding Mode Controller for Nonlinear System |
| Authors |
김민찬(Kim Min-Chan) ; 이재동(Lee Jae-Dong) ; 박승규(Park Seung-Kyu) ; 곽군평(Kwak Gun-Pyong) ; 안호균(Ahn Ho-Kyun) |
| Keywords |
비선형 계통 ; 슬라이딩 모드 제어 ; 궤환 선형화 ; 강인 제어 ; 파라미터 불확실성 ; |
| Abstract |
In this paper, the feedback linearization technique is used with the sliding mode control for nonlinear systems. This combination of the two control techniques is achieved by introducing a novel sliding surface which has the nominal dynamics of the original system controlled by feedback linearization technique. Its design is based on the augmented system whose dynamics have a higher order than that of the original system. The reaching phase is removed by using an initial virtual state which makes the initial sliding function equal to zero. |