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This work mainly deals with the sliding mode control for the sloshing liquid in a container using Collocated and Non-Collocated lineariztion techniques. The comparative study of these techniques is done for the first time for a slosh-container system, which represents a class of underactuated systems. A linear sliding surface based sliding mode control is derived for both the approaches which rejects...
In this paper, two approaches based on sliding mode control for controlling a single-stage grid-connected three-phase solar photovoltaic system have been presented. The sliding mode control is robust and has good disturbance rejection as compared to the conventional proportional-integral control. Another advantage is that feedback linearization is not required for controlling nonlinear systems. There...
This paper proposes the application of a super twisting algorithm based control strategy for the position control of a Stewart platform. The conventional sliding mode controller is making use of a discontinuous feedback control, hence the control effort is discontinuous in nature. The discontinuity in feedback control induces the dangerous high frequency vibrations called chattering, which is highly...
The robust stabilization of roll angle for PGM-class missiles (precision guided missiles) is considered in this paper. The roll dynamics in these missiles are stable but have large parametric variations and slow response behavior. A novel method for roll-angle stabilization using higher-order sliding-mode control with actuator saturation is proposed in this paper. The actuator and sensor dynamics...
The paper deals with the output stabilization of the system in the presence of unmatched uncertainties using higher order sliding mode control. Super twisting control is used to achieve second order sliding mode on the defined sliding surface. Here a sliding surface is proposed based on the information of output and observed states. Higher order sliding mode observer (HOSMO) is used to observe the...
A new family of continuous higher order sliding mode algorithm (CHOSMA) for arbitrary relative degree system via continuous control signal is proposed. The convergence conditions for the third order-CHOSMA algorithm is formulated based on homogeneous Lyapunov function. The formula for algorithm of arbitrary order is also suggested. The simulation results are confirmed the efficiency of the proposed...
This paper proposes the application of a continuous higher order sliding mode controller for the position control of a Stewart platform. The conventional integral sliding mode controller consists of a nominal control and a discontinuous feedback control hence the overall control is discontinuous in nature. The discontinuity in feedback control is undesirable for practical applications due to chattering...
The paper presents the design of spatial control system of a large Pressurized Heavy Water Reactor(PHWR) with the constraint that the closed loop system be stable even if one of the output sensors has failed. Linear state models are obtained corresponding to the normal operating condition and different failure modes of the reactor. Each model is found to possess two time scale property. Application...
The problem of pole placement in a specified circular region for discrete two-time scale system is considered. An algorithm for pole assignment in a specified circular region using a bilinear transformation onto the unit circle is presented for discrete two-time scale systems. We decompose the discrete regulator problem into two subsystem discrete regulator problem and then they are solved for optimal...
This paper presents a method of reduction for interval system. The denominator of the reduced model is obtained by using the concept of interlacing property of even and odd polynomials of the system denomiator. The numerator of the reduced model is obtained by matching interval time moments. A numerical example illustrates the procedure.
A systematic procedure for design of variable structure model following load frequency controller for a single{area power system has been presented. The variable structure model following control (VSMFC) technique presented in this paper not only guarantees invariance to a class of parameter variations and disturbances but also possess other attractive features of variable structure systems (VSS)...
In this paper a new algorithm for discrete-time sliding mode control using only output samples is proposed. It is shown that the output feedback gain can be directly obtained using the reaching law of discrete-time sliding mode control. The main contribution of this work is that instead of using the system states, the output samples are used for designing the controller.
The paper presents discrete time sliding mode control (DSMC) for permanent magnet (PM) stepper motor which is known to be differentially flat system. Discretization of continuous time model of the stepper motor has been carried out and linearizing outputs are selected. Discrete state variables and control inputs are obtained in terms of linearizing outputs and their higher order differences. Linearized...
This paper proposes multivariable integral sliding mode controller for any Multi Input Multi Output (MIMO) system. The conventional integral sliding mode controller consists of a nominal control and a discontinuous feedback control such that the overall control is discontinuous in nature. The discontinuity in feedback control is undesirable for practical applications due to chattering. In this paper...
The paper presents a nodal technique for modeling a large Pressurized Heavy Water Reactor (PHWR). Model equations have been derived from the two group diffusion equations and validated by applying it to a benchmark problem for a large heavy water reactor. The computational results obtained from the model are compared with the benchmark results.
The paper presents a method for the design of a sliding mode controller for a class of mismatched uncertain systems. A new state dependent nonlinear switching surface is proposed. A control problem for slosh free-motion of a container is considered as the representative of a typical class of systems. A simple pendulum model is considered to represent the lateral slosh. The validity of the proposed...
This paper deals with the design of stable sliding mode control (SMC) for the underactuated slosh-container system using feedforward normal form. A nonlinear coordinate transformation is used to convert the system into so called feedforward normal like form to decouple the control input appearing in one of the degree of freedom (DOF). This results in the design simplicity for the sliding mode control...
Implementation of the Super-Twisting Control (STC) requires the first time derivative of the sliding surface must be Lipschitz in time. It is shown that if we will use STC based on the absolutely continuous estimation of the surface, controller can not be implemented. In this paper two methodologies are proposed to avoid the above problem. For simplicity we are considering here only perturbed double...
Generalization of the Super-Twisting algorithm (STA) for r relative degree system with respect to output, ensuring finite time convergence to the set σ, σ̇,…, π(r) where σ represents the output via absolutely continuous control signal using information of σ, σ̇,…, π(r)−1 are discussed. The convergence conditions for the 3-STA algorithm are proposed. The formula for algorithm of arbitrary order is...
This paper proposes an algorithm for periodic output feedback (POF) control for Delta operator systems. The Delta operator creates the rapprochement between analog and discrete dynamic system models and establishes the natural framework to investigate the behavior of discrete dynamic models with fast sampling rates. It is shown here that, the periodic output feedback control fails for discrete-time...
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