Sudhir Raj∗
Inverted pendulums connected with spring, integral sliding modecontrol, H∞ control
Decentralized control is an effective method for stabilization of interconnected systems. The interactions among subsystems are taken as perturbations and matching assumptions becomes restric- tive. The sliding surface is selected such that the effect of the unmatched perturbation becomes minimum. Integral sliding mode control cancels the matched interconnections starting from the ini- tial phase. Coupled pendulums are a benchmark system to verify the effectiveness of the robust controller. The robustness properties of the H∞-based integral sliding mode control are utilized for stabi- lization of interconnected systems such as coupled pendulums. The algebraic Riccati equation is applied to H∞ state feedback design to consider other constraints in the other singular values. The gains of H∞-based state feedback control is calculated using the Riccati equation. Simulation results show the effectiveness of H∞-based integral sliding mode control by considering various uncertainties.
Important Links:
Go Back
