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Discrete Time Sliding Mode Controller Using a Disturbance Compensator for Nonlinear Uncertain Systems

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  • Control Theory and Applications
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Abstract

In this paper, we propose a new sliding mode control for discrete time nonlinear uncertain systems. The uncertainties include both parametric uncertainties in the state model and external disturbances. To recover the lost invariance and robustness properties of discrete sliding mode control, we develop a disturbance estimation scheme to compensate the system uncertainties without affecting the control law. This control approach ensures the stability of the closed loop system as well as chattering reduction. The performance of the proposed controller is applied to control the motion of a cart-inverted pendulum used as a typical benchmark of nonlinear systems. The stabilization problem of the inverted pendulum system is to design a controller to keep the pendulum in its unstable equilibrium point in the presence of disturbances and parameters variation. The simulation result shows the effectiveness of the control design.

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Authors and Affiliations

  1. Laboratory of Automatic, Signal Processing and Image (LARATSI), National Engineering School of Monastir, University of Monastir, Rue Ibn Eljazzar, 5019, Monastir, Tunisie

    Jalel Ghabi & Hedi Dhouibi

Authors
  1. Jalel Ghabi
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  2. Hedi Dhouibi
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Correspondence to Jalel Ghabi.

Additional information

Recommended by Associate Editor Sung Jin Yoo under the direction of Editor PooGyeon Park. The authors appreciate the Associate Editor and anonymous reviewers for their constructive comments on the basis of which the presentation of this paper has been greatly improved.

Jalel Ghabi received the Master degree in Automatic Control and Industrial Computing from University of Sfax in 2003. In 2009, he obtained his Ph.D. degree in Automatic from University of Monstir. He is currently an associate professor at University of Kairouan, Tunisia. His research interests include Sliding mode control, Robust predictive control, Chaos control.

Hedi Dhouibi received the Master degree in Industrial Maintenance from University of Tunisa in 1999. In 2005, he obtained his Ph.D. degree in Automatic Control from the Institute of Sciences and Technologies of Lille, France. He is currently a professor at University of Kairouan. His research interests include Intelligent control, Diagnostics and fault detection.

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Ghabi, J., Dhouibi, H. Discrete Time Sliding Mode Controller Using a Disturbance Compensator for Nonlinear Uncertain Systems. Int. J. Control Autom. Syst. 16, 1156–1164 (2018). https://doi.org/10.1007/s12555-017-0185-0

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  • DOI: https://doi.org/10.1007/s12555-017-0185-0

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