Sliding control of MIMO nonlinear systems

摘要

. Sliding control of MIMO (multivariable input-multivariable output) nonlinear minimum phase systems is discussed. Stability conditions related to model errors are emphasized. Global asymptotic stability is guaranteed by applying Barbalat's Lyapunov-like lemma. The control law is applied to a simulator of a polymerization reactor. Keywords. Feedback Linearization, Sliding Control, Lyapunov Stability Theory, Polymerization Reactor. 1 INTRODUCTION The major problem with feedback linearization techniques is robustness due to imprecise cancellations of the model nonlinearities. In the case of parametric uncertainties, global asymptotically stable controllers may be found by using the Lyapunov stability theory. Well known techniques, arising from this approach are adaptive feedback linearization and sliding control which both have been successfully applied in robotic control [5]. Sliding control has also been applied in the control of underwater vehicles which are highly nonlinear and ti...