ROBUST FINITE-TIME TRACKING WITH SWITCHED CONTROLLERS

Ehsan Azadi Yazdi and Ryozo Nagamune

Keywords

Switched control, robust finitetime tracking, parametric uncertainty,ball screw drive system, inverted pendulum system

Abstract

In this paper, a problem of designing a switched dynamic outputfeedback controller for a plant with time-invariant parametric uncertainties is considered. The controller is designed so that the switched closed-loop system satisfies the robust finite-time tracking property, i.e., the time-domain state trajectories with plant perturbations stay in a bounded neighbourhood of a desired state trajectory over a specified finite-time period. The design problem amounts to solving a feasibility problem, which involves a non-smooth function. A non-smooth descent method is applied to solve the feasibility problem numerically. The usefulness of the proposed design method is demonstrated through examples in a ball screw drive servo system and an inverted pendulum system.

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