SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC

Zhiyu Xi, Tim Hesketh

Abstract

This paper addresses discrete sliding mode control of nonlinear systems. The nonlinear system is identified as a Hammerstein model firstly to isolate the nonlinearity from the sliding surface design. An MPC law is employed to design the sliding surface. Then Utkins method of equivalent control is used. The method illustrates the effect of the nonlinearity on reaching control. The ball and beam system is adopted as an example. Simulation and on-line results are provided.

References

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Paper Citation


in Harvard Style

Xi Z. and Hesketh T. (2007). SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-972-8865-84-9, pages 232-237. DOI: 10.5220/0001639402320237


in Bibtex Style

@conference{icinco07,
author={Zhiyu Xi and Tim Hesketh},
title={SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2007},
pages={232-237},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001639402320237},
isbn={978-972-8865-84-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC
SN - 978-972-8865-84-9
AU - Xi Z.
AU - Hesketh T.
PY - 2007
SP - 232
EP - 237
DO - 10.5220/0001639402320237