Variable structure control of non-linear adaptive model-following systems

Abstract

The purpose of this paper is to design a variable structure controller (VSC) for a class of non-linear model-following systems, when subjected to fast and wide ranges of unknown-but-bounded parameter variations and disturbances. It has been shown that the use of discontinuous VSC may produce what is called chattering phenomena. By adopting a boundary layer controller, such chattering can be removed. The controller gains are then adjusted in such a way that the global asymptotic stability of the overall system is assured. An illustrative example for controlling a non-linear adaptive model-following system is carried out to demonstrate the design procedure.