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Original Articles

2-gain tuning of variable structure SISO systems of relative degree n

ORCID Icon, ORCID Icon &
Pages 2422-2444 | Received 09 Apr 2016, Accepted 12 Dec 2016, Published online: 23 Jan 2017
 

ABSTRACT

The present paper extends the L2-gain analysis towards variable structure systems (VSS) with sliding-mode (SM) dynamics. The developed analysis is applied to feedback linearisable VSS, driven by standard SM algorithms of the first order. Constructive parameter-tuning of the resulting closed-loop system to possess the L2-gain less than a desired attenuation level is additionally deduced. The proposed tuning is shown to be capable not only of rejecting matched uniformly bounded disturbances but also of attenuating unbounded ones, including mismatched disturbances. Numerical simulations of an inverted pendulum, driven by a first-order SM controller, are involved to support the theory in the presence of the position measurement inaccuracy, being a source of a mismatched disturbance.

Disclosure statement

No potential conflict of interest was reported by the authors.

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