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Tracking with multirate output feedback (MROF) based discrete sliding mode control

In this paper, a discrete sliding mode controller with multirate output feedback is designed to control the inverted pendulum system at the upright position. Most of the SMC control strategies are based on state feedback, however not all of the state feedbacks are available. The multirate output fee...

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Bibliographic Details
Main Authors: Ngadengon, Rafidah, Md Sam, Yahaya, Osman, Johari Halim Shah, Tomari, Razali
Format: Article
Published: Asian Research Publishing Network 2015
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/id/eprint/59040/
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Summary:In this paper, a discrete sliding mode controller with multirate output feedback is designed to control the inverted pendulum system at the upright position. Most of the SMC control strategies are based on state feedback, however not all of the state feedbacks are available. The multirate output feedback (MROF) used output feedback, therefore the state are always available at any condition. The error state variable was added to the system to achieve reference tracking. The MROF was compared with discrete Proportional Integral Derivative (PID) and discrete Linear Quadratic Regulator (LQR).

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