Authors:
Rafael Castro-Linares
1
and
Alain Glumineau
2
Affiliations:
1
CINVESTAV-IPN, Mexico
;
2
IRCCyN, UMR 6597 CNRS, Ecole Centrale de Nantes, France
Keyword(s):
Passivity feedback equivalence, sliding mode technique, stabilization, uncertain nonlinear systems.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Nonlinear Signals and Systems
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
In this paper, a sliding mode controller based on passivity feedback equivalence is developed in order to stabilize an uncertain nonlinear system. It is shown that if the nominal passive system obtained by feedback equivalence is asymptotically stabilized by output feedback, then the uncertain system remains stable provided the upper bounds of the uncertain terms are known. The results obtained are applied to the model of a magnetic levitation system to show the controller methodology design.