Approximate causal output tracking for linear perturbed systems via sliding mode control

ABSTRACT

A new approach to the solution of what is termed causal output tracking problem for linear time-invariant systems in the presence of both matched and unmatched unmodelled disturbances is presented. The proposed solution is addressed through the design of a dynamic steady state estimator based on the desired system structure and an observer, considering the reference as the system output. The unmatched disturbance is estimated and used in the steady state estimator to achieve invariance, while the matched disturbance robustness is provided via sliding mode control using the super-twisting algorithm. A useful application of the presented techniques is output tracking for non-minimum phase systems; thus, the performed simulation results confirm the effectiveness of the proposed control scheme for this kind of systems.

KEYWORDS:

• Sliding mode control
• output tracking
• non-minimum phase
• linear systems
• robust control
• arbitrary references

Disclosure statement

No potential conflict of interest was reported by the authors.

ORCID

Jorge E. Ruiz-Duarte http://orcid.org/0000-0002-0834-0240

Alexander G. Loukianov http://orcid.org/0000-0001-5708-803X

Additional information

Funding

This work was supported by Consejo Nacional de Ciencia y Tecnología [grant number 252405].