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Sliding mode controller with state observer for TITO systems with time delay

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Abstract

Many multi-variable systems are modeled as two-input-two-output (TITO) systems with time delay. Such systems are difficult to control due to interaction among the variables and time delay. In this paper, a decentralized sliding mode controller (SMC) is designed for TITO systems with time delay. To reduce the effect of interaction, TITO system is decoupled using ideal decoupler. A delay ahead predictor is used to make the system model delay free. To improve the accuracy of delay ahead prediction, a corrector with observer is designed. Independent SMCs are designed for each decoupled subsystem and the control signal of SMC is applied to TITO system through the ideal decoupler. The stability condition for the proposed controller is derived using direct Lyapunov stability analysis. A simulation example and real time experimentation is included to validate performance of proposed SMC.

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Acknowledgements

The authors would like to acknowledge Savitribai Phule Pune University, Pune, India for providing financial assistance for this work.

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Authors and Affiliations

  1. Pravara Rural Engineering College, Savitribai Phule Pune University, Loni, Pune, India

    C. B. Kadu

  2. Zeal College of Engineering and Research, Pune, India

    A. A. Khandekar

  3. College of Engineering, Pune, India

    C. Y. Patil

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  1. C. B. Kadu
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  2. A. A. Khandekar
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  3. C. Y. Patil
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Correspondence to C. B. Kadu.

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Kadu, C.B., Khandekar, A.A. & Patil, C.Y. Sliding mode controller with state observer for TITO systems with time delay. Int. J. Dynam. Control 6, 799–808 (2018). https://doi.org/10.1007/s40435-017-0342-6

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  • DOI: https://doi.org/10.1007/s40435-017-0342-6

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