The closed-loop transfer function of a plant controlled with a classical feedback controller, depends on the dynamics of the plant. Since most feedforward tracking controllers are designed based on this closed-loop transfer function, they are not robust against plant model uncertainties. Sliding-mode controllers have the property that when the system is on the switching line, the closed-loop behavior is independent of the plant dynamics. As a result, it can be expected that a feedforward control design based on this closed-loop behavior is robust against plant model uncertainties. This paper studies this feedforward robustness issue in detail and verifies the results on an experimental test setup: a stage driven by a linear motor. An integrated procedure is proposed in designing the closed-loop discrete-time sliding mode controller using the reaching law method.
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e-mail: jian.wang@mech.kuleuven.ac.be
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March 2003
Technical Papers
Robust Perfect Tracking Control With Discrete Sliding Mode Controller
Jian Wang,
e-mail: jian.wang@mech.kuleuven.ac.be
Jian Wang
Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001 Heverlee, Belgium
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Hendrik Van Brussel,
Hendrik Van Brussel
Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001 Heverlee, Belgium
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Jan Swevers
Jan Swevers
Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001 Heverlee, Belgium
Search for other works by this author on:
Jian Wang
Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001 Heverlee, Belgium
e-mail: jian.wang@mech.kuleuven.ac.be
Hendrik Van Brussel
Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001 Heverlee, Belgium
Jan Swevers
Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001 Heverlee, Belgium
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, April 2001; final revision, July 2002. Associate Editor: E. Misawa.
J. Dyn. Sys., Meas., Control. Mar 2003, 125(1): 27-32 (6 pages)
Published Online: March 10, 2003
Article history
Received:
April 1, 2001
Revised:
July 1, 2002
Online:
March 10, 2003
Citation
Wang, J., Van Brussel , H., and Swevers, J. (March 10, 2003). "Robust Perfect Tracking Control With Discrete Sliding Mode Controller ." ASME. J. Dyn. Sys., Meas., Control. March 2003; 125(1): 27–32. https://doi.org/10.1115/1.1540994
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