Sliding mode servomechanism design
2006 IEEE International Conference on Control Applications, CCA 2006, Munich, Germany, 4 - 06 October 2006, pp.1002-1007, (Full Text)
- Publication Type: Conference Paper / Full Text
- Doi Number: 10.1109/cacsd-cca-isic.2006.4776781
- City: Munich
- Country: Germany
- Page Numbers: pp.1002-1007
- Galatasaray University Affiliated: Yes
Abstract
In this paper, a frequency-shaped optimal sliding mode approach combined with Lyapunov based backstepping design is presented to solve the robust servomechanism problem. The parametric uncertainties, unmodeled dynamics and uncertain exogenous disturbance belonging to a specified class are attenuated by using compensator dynamics introduced in sliding mode through an augmented dynamic sliding surface. ©2006 IEEE.