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30 October 2006 Enhanced sliding mode controller for nonlinear systems
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Abstract
In this paper, we proposed a new chattering free and high robust sliding mode controller for nonlinear systems, unlike the conventional variable structure controller (CVSC) or sliding mode controller with boundary layer. The proposed controller uses an integration term of the error in the sliding surface and uses a continuously exponentially varying time term in the reaching low to eliminate the chattering problem also we use a discontinuous term to keep the robustness. A systematic design procedure of sliding mode controller for nonlinear system is presented and applied to a permanent magnet synchronous motor (PMSM) with friction model and limiters to verify superiority of the proposed controller. Feedback linearization technique, relative degree and minimum phase are reviewed.
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Mohamed Said Sayed Ahmed, Ping Zhang, and Yun Jie Wu "Enhanced sliding mode controller for nonlinear systems", Proc. SPIE 6358, Sixth International Symposium on Instrumentation and Control Technology: Sensors, Automatic Measurement, Control, and Computer Simulation, 63583U (30 October 2006); https://doi.org/10.1117/12.718173
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