Robust Dynamic Sliding Mode Control for a Class of Uncertain Multi-variable Process
This paper deals with a design of dynamic sliding mode tracking control for a class of uncertain multiple input multiple output (MIMO) process. A dynamic sliding mode control (DSMC) gives more accuracy with reduced/removed chattering resulting from high f
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Abstract This paper deals with a design of dynamic sliding mode tracking control for a class of uncertain multiple input multiple output (MIMO) process. A dynamic sliding mode control (DSMC) gives more accuracy with reduced/removed chattering resulting from high frequency switching control input. To demonstrate the effectiveness of the proposed DSMC, multi variable coupled tank process is simulated. From simulation results it has been found to be satisfactory. Keywords Robust control ⋅ Siding mode control (SMC) ⋅ Dynamic sliding mode control (DSMC) ⋅ Multi-variable processes ⋅ MIMO process and uncertain system
1 Introduction During the past several decades, a lots of robust control strategy have been developed for controlling of a processes with parametric uncertainties and external disturbances [1–4]. The SMC approach has been recognized as a one of the efficient control strategy to design robust controllers for nonlinear dynamic systems operating under uncertainty and external disturbance conditions. The main advantage of SMC is, it has low sensitivity to plant parameter variations and disturbances so that it minimizes the requirement of accurate process model for designing of controller. However, the drawback of SMC is, it has been restricted in application due to an undesirable chattering occurred in control input. Because chattering is not acceptable by physical final control elements or actuators [5–8]. In the literature of SMC, different solutions are proposed to reduce the chattering effect. In process control, such a chattering can lead to high losses in terms of B.J. Parvat (✉) ⋅ B.M. Patre Department of Instrumentation Engineering, S.G.G.S Institute of Engineering and Technology, Vishnupuri, Nanded 431606, India e-mail: [email protected] B.M. Patre e-mail: [email protected] © Springer Science+Business Media Singapore 2017 S.C. Satapathy et al. (eds.), Proceedings of the International Conference on Data Engineering and Communication Technology, Advances in Intelligent Systems and Computing 468, DOI 10.1007/978-981-10-1675-2_8
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damaging of actuators introduced down time and lost the production. Hence, it is necessary to reduce chattering by maintaining and control the switching frequency in to a required and acceptable level. For the chattering free control DSMC [9–11], adaptive fuzzy sliding mode observer [12], adaptive terminal sliding mode control [13] and higher order sliding mode control [14–17] are reported in the literature. A DSMC adds additional dynamics, which can be considered as compensator. The SMC with compensator is an improved system. Hence DSMC gives improved stability and performance of system. It also yield smooth and chattering free control from the high frequency switching control [3, 9, 18]. In this paper for showing the effectiveness of DSMC, it has been demonstrated for both uncertain nonlinear single input single output (SISO) and MIMO processes. For MIMO processes decentralized control structure is used. It uses decoupler designed from plant model t
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