Authors:
Zhiyu Xi
and
Tim Hesketh
Affiliation:
School of Electrical Engineering & Telecommunications, University of New South Wales, Australia
Keyword(s):
Sliding mode, reaching control, equivalent control, MPC, Hammerstein model, nonlinearity.
Related
Ontology
Subjects/Areas/Topics:
Adaptive Signal Processing and Control
;
Informatics in Control, Automation and Robotics
;
Nonlinear Signals and Systems
;
Optimization Problems in Signal Processing
;
Signal Processing, Sensors, Systems Modeling and Control
;
System Identification
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.