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A robust tracking controller for uncertain MIMO plant using non-linear sliding surface
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A method to design a high performance robust tracking controller to track step references for uncertain continuous MIMO plant is presented. A non-linear sliding surface is proposed by which the damping ratio of closed loop system is increased as output approaches setpoint. Stability with the proposed non-linear surface is proved. A new control law is designed to guarantee the existence of sliding mode around the proposed non-linear surface. Position controller of stepper is designed using the proposed algorithm and corresponding simulation results are presented to show the effectiveness of the proposed scheme.
About the journal
JournalProceedings of the IEEE International Conference on Industrial Technology