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In this paper a digital variable structure control algorithm, directly derived from a continuous one, previously presented by the authors, is considered. The proposed algorithm is able to perform the second order sliding mode control of a large class of uncertain second order nonlinear SISO systems. The discretization effects of the control law on the system behaviour are analyzed, and the sufficient...
The wave equation is studied under the effect of a persistent external perturbation. A dynamical distributed controller is suggested, based on an infinite-dimensional generalization of second-order sliding-mode control techniques, that provides the exponential attainment of a sufficiently smooth arbitrary reference of the state trajectory. The control system comprises of both feedforward and feedback...
In this paper, an anti-swing control law, previously proposed for the 2-dimensional (2D, or planar) model of an overhead crane [2], is generalized to the 3-dimensional (3-D) case. The multi-input controller is based on the second-order sliding-mode approach. Thanks to specially designed sliding surfaces, explicitly depending on the load swing angles, zero steady position error and active load swing...
In the present paper, preliminary results towards the generalization to the infinite-dimensional setting of some known robust finite-dimensional control algorithms are illustrated. The main focus of the present paper is on the rejection of non-vanishing external disturbances. The generalization to the infinite-dimensional setting of some known finite-dimensional controllers, namely the “Power-fractional”...
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