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Sliding controller design for nonlinear systems. (English) Zbl 0541.93034
Summary: New results are presented on the sliding control methodology introduced by J. J. Slotine and S. S. Sastry [Int. J. Control 38, 465- 492 (1983; Zbl 0519.93036)] to achieve accurate tracking for a class of nonlinear time-varying multivariable systems in the presence of disturbances and parameter variations. An explicit trade-off is obtained between tracking precision and robustness to modelling uncertainty: tracking accuracy is set according to the extent of parametric uncertainty and the frequency range of unmodelled dynamics. The trade-off is further refined to account for time-dependence of model uncertainty.

MSC:
93C10 Nonlinear systems in control theory
93C35 Multivariable systems, multidimensional control systems
93C99 Model systems in control theory
93B35 Sensitivity (robustness)
93C57 Sampled-data control/observation systems
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[3] SLOTINE J. J., Ph.D. Thesis (1983)
[4] SLOTINE J. J., Int. J. Control 38 pp 465– (1983) · Zbl 0519.93036
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[6] UTKIN V. I., Sliding Mode Control and its Applications to Variable Structure Systems (1978)
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