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Decentralised sliding mode control for nonminimum phase interconnected systems based on a reduced-order compensator

Research output: Contribution to journalJournal article

Published

Journal publication date2006
JournalAutomatica
Journal number10
Volume42
Number of pages8
Pages1821-1828
Original languageEnglish

Abstract

In this paper, a class of interconnected systems with mismatched uncertainties is considered. A sliding surface is proposed in an augmented space formed by the system output and the compensator state variables, and the stability of the corresponding sliding mode is analysed. A robust decentralised reduced-order output feedback sliding mode controller is then designed to drive the system to the composite sliding surface and maintain a sliding motion on it thereafter. The proposed approach allows both the isolated nominal subsystem and the nominal interconnected system to be nonminimum phase. The known interconnections and the bounds on the uncertain interconnections are fully used in the control design to reduce conservatism.