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Mathematics > Optimization and Control

arXiv:1309.3317 (math)
[Submitted on 12 Sep 2013]

Title:Pole-placement in higher-order sliding-mode control

Authors:Debbie Hernández, Fernando Castaños, Leonid Fridman
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Abstract:We show that the well-known formula by Ackermann and Utkin can be generalized to the case of higher-order sliding modes. By interpreting the eigenvalue assignment of the sliding dynamics as a zero-placement problem, the generalization becomes straightforward and the proof is greatly simplified. The generalized formula retains the simplicity of the original one while allowing to construct the sliding variable of a single-input linear time-invariant system in such a way that it has desired relative degree and desired sliding-mode dynamics. The formula can be used as part of a higher-order sliding-mode control design methodology, achieving high accuracy and robustness at the same time.
Subjects: Optimization and Control (math.OC); Systems and Control (eess.SY)
Cite as: arXiv:1309.3317 [math.OC]
  (or arXiv:1309.3317v1 [math.OC] for this version)
  https://doi.org/10.48550/arXiv.1309.3317

Submission history

From: Fernando Castaños [view email]
[v1] Thu, 12 Sep 2013 22:03:45 UTC (267 KB)
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