On Robust VSS Nonlinear Servomechanism Problem
Analogously to the formulation of the so-called classical servomechanism problem, the problem of tracking a reference signal while rejecting the effect of a disturbance signal by means of the VSS technique is studied by formulating the sliding mode servomechanism problem for which conditions for the existence of a solution for in general case and for a classes of nonlinear system presented in the Regular Form or in the Nonlinear Block Controllable Form are derived. The effectiveness of the proposed method is demonstrated by the application to the Pendubot system.
KeywordsNonlinear System Sliding Mode Slide Mode Controller Variable Structure System Asymptotic Tracking
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