文章基本信息

标题：Dynamic output feedback sliding mode control for non-minimum phase systems with application to an inverted pendulum ⁎
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作者：Jiehua Feng ; Shouli Gao ; Dongya Zhao 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5165-5170
DOI：10.1016/j.ifacol.2020.12.1182
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a class of nonlinear systems is considered, where the nominal system representation is allowed to be non-minimum phase. A sliding surface is proposed which is a function of the measured system output and an estimated state. A linear coordinate transformation is introduced so that the stability analysis of the reduced order sliding mode dynamics can be conveniently performed. A robust output feedback sliding mode control (OFSMC) is then designed to drive the system states to the sliding surface in finite time and maintain a sliding motion thereafter. A simulation example is used to demonstrate the effectiveness of the proposed method and the method is successfully applied to an inverted pendulum.
关键词：KeywordsSliding mode techniqueNon-minimum phaseDynamical output feedbackRegular formInverted pendulum