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Switched integral sliding mode control for robust generation of self-oscillation in pendulum systems

Switched integral sliding mode control for robust generation of self-oscillation in pendulum systems

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Self-oscillations for pendulum systems generated by a two-relay controller are robustified by using a switched integral sliding mode control. The robustification is theoretically exact, assuring the frequency and amplitude of the oscillations remain despite the presence of matched uncertainties/perturbations. To illustrate the efficacy of the proposed robustifying strategy, an inertial wheel pendulum is considered along the chapter.

Chapter Contents:

  • Abstract
  • 7.1 Introduction
  • Acronyms
  • 7.2 Preliminaries and problem formulation
  • 7.2.1 Uncertain system
  • 7.2.2 Generation of self-oscillations: two-relay controller
  • 7.2.3 Motivational example
  • 7.2.4 Problem statement
  • 7.3 Switched integral sliding modes
  • 7.3.1 Sliding variable design
  • 7.3.2 Controller design
  • 7.4 Simulation example
  • 7.5 Conclusion
  • Acknowledgment
  • References

Inspec keywords: uncertain systems; robust control; switching systems (control); relay control; pendulums; perturbation techniques; nonlinear control systems; variable structure systems

Other keywords: two-relay controller; oscillation amplitude; robust self-oscillation generation; pendulum systems; inertial wheel pendulum; matched uncertainties; oscillation frequency; switched integral sliding mode control; matched perturbations

Subjects: Time-varying control systems; Multivariable control systems; Stability in control theory; Nonlinear control systems

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