Suboptimal Tuning of Sliding Mode Controllers

C.A. Cruz-Villar and J. Alvarez-Gallegos (Mexico)


Dynamic Optimization, Sliding Mode Control, Nonlinear Control Systems


This paper presents an optimal methodology to tune a con ventional sliding mode controller for SISO nonlinear sys tems. The controller tuning problem could be considered as a dynamic optimization (DO) problem, but the solution of this problem would require the perfect knowledge of nominal system parameters. The proposed methodology is based in sensitivity like equations for solution of the DO problem but assumes that the nominal system parameters are not available. The effectiveness of the method is shown via sliding mode control of a single link robot manipulator simulations.

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