Sliding mode identification and control for linear uncertain stochastic systems

Authors:
M. Basin;A. Ferreira;L. Fridman
Affiliations:
Department of Physical and Mathematical Sciences, Autonomous University of Nuevo Leon, San Nicolas de los Garza, Nuevo Leon, Mexico;Department of Engineering, National Autonomous University of Mexico, Mexico;Department of Engineering, National Autonomous University of Mexico, Mexico
Venue:
International Journal of Systems Science - Advances in Sliding Mode Observation and Estimation (Part Two)
Year:
2007

Citing 4
Cited 2

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Abstract

This article presents the integral sliding mode technique applied to identify disturbances and robustify the optimal linear quadratic Gaussian controller for linear uncertain stochastic systems, which is compared to the conventional sliding mode approach. The obtained identifier/controller provides a method for estimating uncertainty values and ensures robustness of the system against matched uncertainties, starting from the initial time instant. Numerical simulations illustrating the obtained results are given for the inverted pendulum.