Analysis of closed-loop performance and frequency-domain design of compensating filters for sliding mode control systems

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Abstract

For a sliding mode (SM) system containing parasitic dynamics, a model of chattering and a model of the averaged motions of the order equal to the original order of the system are obtained via the use of the locus of a perturbed relay system (LPRS) method. The latter model proves that the averaged motions in an SM system differ from those in the reduced-order model. In particular, such phenomena as the nonideal disturbance rejection and the nonideal input tracking are observed. It is shown that the non-reduced-order model transforms into the reduced one when the parasitic dynamics are removed. Yet, the chattering and the averaged motion-being the two components of the motion in the SM system-belong to two different frequency ranges (spectra). As a result, a frequency characteristic shaping aimed at achieving the desired frequency of chattering and enhancing the closed-loop performance becomes possible. This opportunity is explored in this paper. Examples that illustrate the proposed approach are provided.

Original languageBritish English
Pages (from-to)1882-1891
Number of pages10
JournalIEEE Transactions on Automatic Control
Volume52
Issue number10
DOIs
StatePublished - Oct 2007

Keywords

  • Compensation
  • Discontinuous control
  • Frequency-domain analysis
  • Sliding mode

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