SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC
Zhiyu Xi, Tim Hesketh
2007
Abstract
This paper addresses discrete sliding mode control of nonlinear systems. The nonlinear system is identified as a Hammerstein model firstly to isolate the nonlinearity from the sliding surface design. An MPC law is employed to design the sliding surface. Then Utkins method of equivalent control is used. The method illustrates the effect of the nonlinearity on reaching control. The ball and beam system is adopted as an example. Simulation and on-line results are provided.
DownloadPaper Citation
in Harvard Style
Xi Z. and Hesketh T. (2007). SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-972-8865-84-9, pages 232-237. DOI: 10.5220/0001639402320237
in Bibtex Style
@conference{icinco07,
author={Zhiyu Xi and Tim Hesketh},
title={SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2007},
pages={232-237},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001639402320237},
isbn={978-972-8865-84-9},
}
in EndNote Style
TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - SLIDING MODE CONTROL FOR HAMMERSTEIN MODEL BASED ON MPC
SN - 978-972-8865-84-9
AU - Xi Z.
AU - Hesketh T.
PY - 2007
SP - 232
EP - 237
DO - 10.5220/0001639402320237