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Smooth indirect adaptive sliding mode control

2013; Wiley; Volume: 25; Issue: 6 Linguagem: Inglês

10.1002/rnc.3099

1099-1239

Leonardo R. L. Teixeira, Josenalde Oliveira, Aldayr Araújo,

Iterative Learning Control Systems

Summary In this paper, an indirect approach to the dual‐mode adaptive robust controller (DMARC) is proposed, which combines the typical transient and robustness properties of variable structure systems with a smooth control signal in steady state, typical of conventional adaptive controllers, as model reference adaptive controller. The aim of this indirect version, here named indirect DMARC, is to provide a more intuitive controller design, based on physical plant parameters, as resistances, inertia moments, capacitances, and so on, maintaining DMARC properties. In this paper, a stability analysis for the proposed controller and simulations to an unstable second‐order plant will be presented. Copyright © 2013 John Wiley & Sons, Ltd.