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| sliding mode control tutorial matlab: Advanced Sliding Mode Control for Mechanical Systems Jinkun Liu, Xinhua Wang, 2012-09-07 Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation takes readers through the basic concepts, covering the most recent research in sliding mode control. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time sliding mode control, discrete time sliding mode control, fuzzy sliding mode control, neural sliding mode control, backstepping sliding mode control, dynamic sliding mode control, sliding mode control based on observer, terminal sliding mode control, sliding mode control for robot manipulators, and sliding mode control for aircraft. This book is intended for engineers and researchers working in the field of control. Dr. Jinkun Liu works at Beijing University of Aeronautics and Astronautics and Dr. Xinhua Wang works at the National University of Singapore. |
| sliding mode control tutorial matlab: Sliding Mode Control Christopher Edwards, Sarah K. Spurgeon, 1998-08-27 In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Sliding mode control theory seeks to produce controllers to over some such mismatches. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of state-space methods. |
| sliding mode control tutorial matlab: Advanced and Optimization Based Sliding Mode Control: Theory and Applications Antonella Ferrara, Gian Paolo Incremona, Michele Cucuzella, 2019-07-01 A compendium of the authors recently published results, this book discusses sliding mode control of uncertain nonlinear systems, with a particular emphasis on advanced and optimization based algorithms. The authors survey classical sliding mode control theory and introduce four new methods of advanced sliding mode control. They analyze classical theory and advanced algorithms, with numerical results complementing the theoretical treatment. Case studies examine applications of the algorithms to complex robotics and power grid problems. Advanced and Optimization Based Sliding Mode Control: Theory and Applications is the first book to systematize the theory of optimization based higher order sliding mode control and illustrate advanced algorithms and their applications to real problems. It presents systematic treatment of event-triggered and model based event-triggered sliding mode control schemes, including schemes in combination with model predictive control, and presents adaptive algorithms as well as algorithms capable of dealing with state and input constraints. Additionally, the book includes simulations and experimental results obtained by applying the presented control strategies to real complex systems. This book is suitable for students and researchers interested in control theory. It will also be attractive to practitioners interested in implementing the illustrated strategies. It is accessible to anyone with a basic knowledge of control engineering, process physics, and applied mathematics. |
| sliding mode control tutorial matlab: Sliding Mode Control Using Novel Sliding Surfaces B. Bandyopadhyay, Fulwani Deepak, Kyung-Soo Kim, 2009-10-14 AfterasurveypaperbyUtkininthelate1970s,slidingmodecontrolmeth- ologies emerged as an e?ective tool to tackle uncertainty and disturbances which are inevitable in most of the practical systems. Sliding mode control is a particular class of variable structure control which was introduced by Emel’yanov and his colleagues. The design paradigms of sliding mode c- trol has now become a mature design technique for the design of robust c- troller of uncertain system. In sliding mode technique, the state trajectory of the system is constrained on a chosen manifold (or within some neighb- hood thereof) by an appropriatecontrolaction. This manifold is also called a switching surface or a sliding surface. During sliding mode, system dynamics is governed by the chosen manifold which results in a well celebrated inva- ance property towards certain classes of disturbance and model mismatches. The purpose of this monograph is to give a di?erent dimension to sl- ing surface design to achieve high performance of the system. Design of the switching surface is vital because the closed loop dynamics is governed by the parameters of the sliding surface. Therefore sliding surface should be - signed to meet the closed loop speci?cations. Many systems demand high performance with robustness. To address this issue of achieving high perf- mance with robustness, we propose nonlinear surfaces for di?erent classes of systems. The nonlinear surface is designed such that it changes the system’s closed-loop damping ratio from its initial low value to a ?nal high value. |
| sliding mode control tutorial matlab: Advanced Control of Power Converters Hasan Komurcugil, Sertac Bayhan, Ramon Guzman, Mariusz Malinowski, Haitham Abu-Rub, 2023-07-11 Advanced Control of Power Converters Unique resource presenting advanced nonlinear control methods for power converters, plus simulation, controller design, analyses, and case studies Advanced Control of Power Converters equips readers with the latest knowledge of three control methods developed for power converters: nonlinear control methods such as sliding mode control, Lyapunov-function-based control, and model predictive control. Readers will learn about the design of each control method, and simulation case studies and results will be presented and discussed to point out the behavior of each control method in different applications. In this way, readers wishing to learn these control methods can gain insight on how to design and simulate each control method easily. The book is organized into three clear sections: introduction of classical and advanced control methods, design of advanced control methods, and case studies. Each control method is supported by simulation examples along with Simulink models which are provided on a separate website. Contributed to by five highly qualified authors, Advanced Control of Power Converters covers sample topics such as: Mathematical modeling of single- and three-phase grid-connected inverter with LCL filter, three-phase dynamic voltage restorer, design of sliding mode control and switching frequency computation under single- and double-band hysteresis modulations Modeling of single-phase UPS inverter and three-phase rectifier and their Lyapunov-function-based control design for global stability assurance Design of model predictive control for single-phase T-type rectifier, three-phase shunt active power filter, three-phase quasi-Z-source inverter, three-phase rectifier, distributed generation inverters in islanded ac microgrids How to realize the Simulink models in sliding mode control, Lyapunov-function-based control and model predictive control How to build and run a real-time model as well as rapid prototyping of power converter by using OPAL-RT simulator Advanced Control of Power Converters is an ideal resource on the subject for researchers, engineering professionals, and undergraduate/graduate students in electrical engineering and mechatronics; as an advanced level book, and it is expected that readers will have prior knowledge of power converters and control systems. |
| sliding mode control tutorial matlab: Modeling Uncertainties in DC-DC Converters with MATLAB® and PLECS® Farzin Asadi, Sawai Pongswatd, Kei Eguchi, Ngo Lam Trung, 2022-06-01 Modeling is the process of formulating a mathematical description of the system. A model, no matter how detailed, is never a completely accurate representation of a real physical system. A mathematical model is always just an approximation of the true, physical reality of the system dynamics. Uncertainty refers to the differences or errors between model and real systems and whatever methodology is used to present these errors will be called an uncertainty model. Successful robust control-system design would depend on, to a certain extent, an appropriate description of the perturbation considered. Modeling the uncertainties in the switch mode DC-DC converters is an important step in designing robust controllers. This book studies different techniques which can be used to extract the uncertain model of DC-DC converters. Once the uncertain model is extracted, robust control techniques such as ∞ and μ synthesis can be used to design the robust controller. The book composed of two case studies. The first one is a buck converter and the second one is a Zeta converter. MATLAB® programming is used extensively throughout the book. Some sections use PLECS® as well. This book is intended to be guide for both academicians and practicing engineers. |
| sliding mode control tutorial matlab: Road Map for Sliding Mode Control Design Vadim Utkin, Alex Poznyak, Yury V. Orlov, Andrey Polyakov, 2020-04-13 This book is devoted to control of finite and infinite dimensional processes with continuous-time and discrete time control, focusing on suppression problems and new methods of adaptation applicable for systems with sliding motions only. Special mathematical methods are needed for all the listed control tasks. These methods are addressed in the initial chapters, with coverage of the definition of the multidimensional sliding modes, the derivation of the differential equations of those motions, and the existence conditions. Subsequent chapters discusses various areas of further research. The book reflects the consensus view of the authors regarding the current status of SMC theory. It is addressed to a broad spectrum of engineers and theoreticians working in diverse areas of control theory and applications. It is well suited for use in graduate and postgraduate courses in such university programs as Electrical Engineering, Control of Nonlinear Systems, and Mechanical Engineering. |
| sliding mode control tutorial matlab: Sliding Mode Control In Engineering Wilfrid Perruquetti, Jean-Pierre Barbot, 2002-01-29 Provides comprehensive coverage of the most recent developments in the theory of non-Archimedean pseudo-differential equations and its application to stochastics and mathematical physics--offering current methods of construction for stochastic processes in the field of p-adic numbers and related structures. Develops a new theory for parabolic equat |
| sliding mode control tutorial matlab: Automotive Control Systems A. Galip Ulsoy, Huei Peng, Melih Çakmakci, 2012-04-30 This textbook introduces advanced control systems for vehicles, including advanced automotive concepts and the next generation of vehicles for ITS. |
| sliding mode control tutorial matlab: Model-based calibration of automated transmissions Huang, Hua, 2016-11-18 With continuous restrictions on emission standards and demands for higher driving comfort, the calibration of shift quality is linked deeply and widely to automated transmission control algorithms. This calibration process is typically implemented with real vehicles on the road under poorly reproducible conditions, where the calibration engineer has no other choice but to try different control parameters till the subjective assessment on the shift quality meets certain requirements, such as shifting comfort or sportiness. Compared with today’s multiplying number of variants in vehicle-engine-transmission combinations and exponential growth of control parameters, this traditional method is backward and costly. An efficient way to rise to the challenge is the model-based automatic calibration. In contrast to the conventional shift quality calibration, this novel method uses a closed loop approach based on a dynamic model instead of human know-how. A shift quality correlated position trajectory is proposed. Compared to the traditional control parameter adjustment method, the guided trajectory has a higher tolerance to the system’s hardware components and a better compatibility with TCUs from diverse suppliers. Since shift quality is not restricted to a general summarized grade, e.g., comfort and sportiness are always two conflicting influence factors in the terms of shift quality calibrations, a multi-objective evolutionary algorithm is applied to search the set of Pareto-optimal front, which includes all the optimal compromised control parameters of the gear shifting trajectory for possible choice. In this work a hydro-mechanical AMT synchronization system is used as an example to explain the proposed optimization process. A Modelica® based non-linear hydro-mechanical AMT system is modeled, which describes the transient behavior during gear shifting in detail. An effective fuzzy sliding-mode position controller is designed for the referenced position tracking during synchronization; in contrast to the conventional trial-and-error tuning method, a genetic algorithm is applied to automatically identify and optimize the sliding-mode controller parameters. A novel multi-objective evolutionary algorithm, MLIA, is developed to find out the optimal control set for the synchronization trajectories. Verification at a transmission test bench shows that this model-based multi-objective optimization method has a guiding capability in automated transmission calibration. Mit deutlich strengeren gesetzlichen Anforderungen hinsichtlich der Abgasemissionen und einer zunehmend anspruchsvolleren Nachfrage bezüglich des Fahrkomforts, rückt die Frage nach der Schaltqualität stärker in den Fokus der Getriebeentwicklung. Die Kalibrierung (umgangssprachlich die Applikation) ist deshalb ein Schwerpunkt bei der Entwicklung von Algorithmen für die Schaltqualität von automatisierten Getriebesteuerungen. Der Kalibrierungsprozess wird in der Regel im Fahrzeugversuch auf der Straße durchgeführt. Der Applikationsingenieur versucht unter diesen nicht reproduzierbaren Bedingungen verschiedene Steuerparameter zu adaptieren. Dies wird für eine Schaltung solange durchgeführt bis die subjektive Beurteilung der Schaltqualität und die zugehörigen Eigenschaften, wie zum Beispiel Schaltkomfort und Sportlichkeit, erfüllt ist. Dieser beschriebene Prozess ist zeit- und personalaufwendig, was mit dem aktuellen Angebot an Motor-Getriebe-Fahrzeugvarianten kaum bewältigt werden kann. Als weitere Herausforderung steigt die Anzahl der kalibrierbaren Parameter der Regler- und Steuerungsmethoden stetig um die Kundenbedürfnisse zu befriedigen, weshalb auch aus Kostensicht ein besserer Prozess gefunden werden muss. Eine effiziente Möglichkeit zur Lösung der skizzierten Problemstellungen ist die modellbasierte automatische Kalibrierung. Im Gegensatz zu der herkömmlich auf Fahrversuche basierende Kalibrierung der Schaltqualität verwendet dieses neue Verfahren ein dynamisches Modell in einer geschlossenen Schleife. Anstelle des Applikationsingenieurs für die Fahrvorgaben wird in der Schleife ein Fahrerregler und ein Optimierungsalgorithmus verwendet, um so eine hohe Reproduzierbarkeit des Schaltereignisses sicherzustellen. Es wird vorgeschlagen, die Bewegung der Schaltstellung zu optimieren, da diese mit der Schaltqualität korreliert. Diametral steht dem die allgemein übliche Regleranpassung verschiedener Parameter für die Synchronisation gegenüber. Die vorgeschlagene Methode der geführten Schaltbewegung weist eine deutlich höhere Toleranz gegenüber der Varianz an Hardwarekomponenten und damit eine bessere Kompatibilität zu den Getriebesteuergeräten (TCUs) verschiedener Lieferanten auf. Die Schaltqualität lässt sich nicht auf ein subjektives Kriterium zusammenfassen, es werden immer unterschiedliche Faktoren wie z.B. Komfort und Sportlichkeit den Schaltvorgang bestimmen. Deshalb wird für die Optimierung des Schaltvorgangs eine mehrkriterieller evolutionärer Algorithmus angewandt, um die Paretofront zu identifizieren, was alle Kompromisse der Schaltbewegungsregelung einschließt. Es wird ein Modell eines hydromechanischen Synchronisationssystems für ein automatisiertes Getriebe als Beispielanwendung benutzt, um den vorgeschlagenen Optimierungsprozess zu demonstrieren. Das nichtlineare hydromechanische Synchronisationssystem wird mit der objektorientierten Sprache Modelica® modelliert. Mit dem Modell werden Schaltvorgänge detailliert beschrieben. Ein Fuzzy-Sliding-Mode-Regler wird für die jeweilige Bewegung der Schaltung während der Synchronisation benutzt. Im Gegensatz zur herkömmlichen empirischen Anpassung der Reglerparameter wird ein genetischer Algorithmus angewendet, um die automatische Erkennung und Bewertung der Parameter vom Fuzzy-Sliding-Mode-Regler zu optimieren. Ein neuartiger evolutionärer mehrkriterieller Algorithmus (MLIA) wurde angewandt, um eine optimale Bewegung der Schaltstellung während der Synchronisierung zu finden. Die Validierung am Getriebeprüfstand zeigt, dass diese modellbasierte Methode der mehrkriteriellen Optimierung in der automatisierten Getriebekalibrierung eine deutliche Verbesserung darstellt. |
| sliding mode control tutorial matlab: High-Gain Observers in Nonlinear Feedback Control Hassan H. Khalil, 2017-06-23 For over a quarter of a century, high-gain observers have been used extensively in the design of output feedback control of nonlinear systems. This book presents a clear, unified treatment of the theory of high-gain observers and their use in feedback control. Also provided is a discussion of the separation principle for nonlinear systems; this differs from other separation results in the literature in that recovery of stability as well as performance of state feedback controllers is given. The author provides a detailed discussion of applications of high-gain observers to adaptive control and regulation problems and recent results on the extended high-gain observers. In addition, the author addresses two challenges that face the implementation of high-gain observers: high dimension and measurement noise. Low-power observers are presented for high-dimensional systems. The effect of measurement noise is characterized and techniques to reduce that effect are presented. The book ends with discussion of digital implementation of the observers. Readers will find comprehensive coverage of the main results on high-gain observers; rigorous, self-contained proofs of all results; and numerous examples that illustrate and provide motivation for the results. The book is intended for engineers and applied mathematicians who design or research feedback control systems. |
| sliding mode control tutorial matlab: Methods of Developing Sliding Mode Controllers Reihaneh Kardehi Moghaddam, Mostafa Rabbani, 2025-01-03 Comprehensive, fast-access guide to different types of sliding mode controllers and their programming and simulation in MATLAB and Simulink Methods of Developing Sliding Mode Controllers delivers a practical review of sliding mode controllers (SMCs) and their challenges with coverage of related theorems, stability analysis, and how to program and simulate SMCs in MATLAB and Simulink. The book details the latest methods of their development and their applications in the automotive, aerospace, and robotics industries. Initial chapters detail a range of different types of controllers. A combination of sliding and backstepping control is introduced and simulated and the phenomenon of chattering and effective solutions to reduce it are provided, along with suitable examples and analytical tables of the results. The final two chapters are related to fixed-time and event-triggered SMCs. Extensive Matlab/Simulink supported examples and simulation program code/block diagrams are included throughout. Methods of Developing Sliding Mode Controllers: Design and Matlab Simulation explores sample topics including: Classic SMCs, covering variable structures, including relays and feedback control with switching gains, as well as controller design and theoretical foundations Terminal SMCs, covering nonsingular and fast variations, dynamic SMCs, and fuzzy SMCs, covering fuzzy approximation and equivalent control as well as indirect design Super twisting SMCs, adaptive SMCs, and backstepping SMCs, covering the backstepping method and chaotic duffing oscillator equations Sign, Epsilon-sign, saturation, hyperbolic tangent, and generalized hyperbolic tangent functions for chatter reduction Methods of Developing Sliding Mode Controllers: Design and Matlab Simulation is a concise yet comprehensive and highly practical reference on the subject for graduate/postgraduate students in electrical engineering, mechanical engineering, and biomedical engineering along with academics and professionals in fields related to SMCs. |
| sliding mode control tutorial matlab: Practical Methods for Optimal Control Using Nonlinear Programming, Third Edition John T. Betts, 2020-07-09 How do you fly an airplane from one point to another as fast as possible? What is the best way to administer a vaccine to fight the harmful effects of disease? What is the most efficient way to produce a chemical substance? This book presents practical methods for solving real optimal control problems such as these. Practical Methods for Optimal Control Using Nonlinear Programming, Third Edition focuses on the direct transcription method for optimal control. It features a summary of relevant material in constrained optimization, including nonlinear programming; discretization techniques appropriate for ordinary differential equations and differential-algebraic equations; and several examples and descriptions of computational algorithm formulations that implement this discretize-then-optimize strategy. The third edition has been thoroughly updated and includes new material on implicit Runge–Kutta discretization techniques, new chapters on partial differential equations and delay equations, and more than 70 test problems and open source FORTRAN code for all of the problems. This book will be valuable for academic and industrial research and development in optimal control theory and applications. It is appropriate as a primary or supplementary text for advanced undergraduate and graduate students. |
| sliding mode control tutorial matlab: Intelligent Information Processing with Matlab Xiu Zhang, Xin Zhang, Wei Wang, 2023-10-15 This book is a comprehensive collection of technologies and methods on intelligent information processing, which includes artificial neural network, fuzzy logic, and evolutionary computing. It also introduces the latest research directions and progress in intelligent information processing, such as transfer learning through convolutional neural network, time series prediction, clustering based on fuzzy neural network, test and evaluation of the traveling salesman problem, test and evaluation of continuous optimization problem, and more. This book promotes the development and application of intelligent information processing technology in the field of computational intelligence, effectively improving the intersection and integration of intelligent information processing methods. Researchers in computational intelligence and artificial intelligence technology, as well as teachers, students, and others interested in the subject, will benefit from this book. |
| sliding mode control tutorial matlab: Fundamentals of Robotics Hamid D. Taghirad, 2025-01-07 In an era where robotics is reshaping industries and redefining possibilities, Fundamentals of Robotics: Applied Case Studies with MATLAB® & Python emerges as an essential guide for both aspiring engineers and seasoned professionals. This comprehensive book bridges the gap between theoretical knowledge and practical application, driving advancements in robotics technology that mimic the complexity and grace of biological creatures. Explore the intricate world of serial robots, from their kinematic and dynamic foundations to advanced control systems. Discover how the precise movements of a magician's fingers or the poised posture of a king cobra inspire the mathematical principles that govern robotic motion. The book delves into the Denavit-Hartenberg method, screw theory, and the Jacobian matrix, providing a thorough understanding of robot design and analysis. Unique to this text is the integration of MATLAB® and Python, offering readers practical experience through step-by-step solutions and ready-to-use code. Each chapter is enriched with real-world case studies, including the 6-DOF Stanford robot and the Fanuc S-900w, allowing readers to apply theoretical concepts to tangible problems. The inclusion of biological examples enhances the relevance and accessibility of complex topics, illustrating the natural elegance of robotics. Key Features: Includes a diverse range of examples and exercises with accompanying MATLAB® and Python codes. Contains over 30 case studies which allows the readers to gain a thorough understanding. Aids instruction in classrooms with inclusion of teaching slides and handouts. Combines diverse topics like kinematics, dynamics, and control within a single book. Ideal for senior undergraduate and graduate students, as well as industry professionals, this book covers a wide range of topics, including linear and nonlinear control methods, trajectory planning, and force control. The dynamic models and control strategies discussed are crucial for anyone involved in the design, operation, or study of industrial robots. Fundamentals of Robotics: Applied Case Studies with MATLAB® & Python is more than a textbook; it is a vital resource that provides the knowledge and tools needed to succeed in the dynamic field of robotics. Join the journey towards mastering robotic technology and contribute to the future of intelligent machines. |
| sliding mode control tutorial matlab: A Variational Approach to Optimal Control of ODEs Pablo Pedregal, 2022-07-26 This self-contained book presents in a unified, systematic way the basic principles of optimal control governed by ODEs. Using a variational perspective, the author incorporates important restrictions like constraints for control and state, as well as the state system itself, into the equivalent variational reformulation of the problem. The fundamental issues of existence of optimal solutions, optimality conditions, and numerical approximation are then examined from this variational viewpoint. Inside, readers will find a unified approach to all the basic issues of optimal control, academic and real-world examples testing the book’s variational approach, and a rigorous treatment stressing ideas and arguments rather than the underlying mathematical formalism. A Variational Approach to Optimal Control of ODEs is mainly for applied analysts, applied mathematicians, and control engineers, but will also be helpful to other scientists and engineers who want to understand the basic principles of optimal control governed by ODEs. It requires no prerequisites in variational problems or expertise in numerical approximation. It can be used for a first course in optimal control. |
| sliding mode control tutorial matlab: Frontiers in Advanced Control Systems Ginalber Luiz Serra, 2012-07-25 This book pretends to bring the state-of-art research results on advanced control from both the theoretical and practical perspectives. The fundamental and advanced research results as well as the contributions in terms of the technical evolution of control theory are of particular interest. This book can serve as a bridge between people who are working on the theoretical and practical research on control theory, and facilitate the proposal of development of new control techniques and its applications. In addition, this book presents educational importance to help students and researchers to know the frontiers of the control technology. |
| sliding mode control tutorial matlab: PID Control System Design and Automatic Tuning Using MATLAB/Simulink Liuping Wang, 2020-03-10 Covers PID control systems from the very basics to the advanced topics This book covers the design, implementation and automatic tuning of PID control systems with operational constraints. It provides students, researchers, and industrial practitioners with everything they need to know about PID control systems--from classical tuning rules and model-based design to constraints, automatic tuning, cascade control, and gain scheduled control. PID Control System Design and Automatic Tuning using MATLAB/Simulink introduces PID control system structures, sensitivity analysis, PID control design, implementation with constraints, disturbance observer-based PID control, gain scheduled PID control systems, cascade PID control systems, PID control design for complex systems, automatic tuning and applications of PID control to unmanned aerial vehicles. It also presents resonant control systems relevant to many engineering applications. The implementation of PID control and resonant control highlights how to deal with operational constraints. Provides unique coverage of PID Control of unmanned aerial vehicles (UAVs), including mathematical models of multi-rotor UAVs, control strategies of UAVs, and automatic tuning of PID controllers for UAVs Provides detailed descriptions of automatic tuning of PID control systems, including relay feedback control systems, frequency response estimation, Monte-Carlo simulation studies, PID controller design using frequency domain information, and MATLAB/Simulink simulation and implementation programs for automatic tuning Includes 15 MATLAB/Simulink tutorials, in a step-by-step manner, to illustrate the design, simulation, implementation and automatic tuning of PID control systems Assists lecturers, teaching assistants, students, and other readers to learn PID control with constraints and apply the control theory to various areas. Accompanying website includes lecture slides and MATLAB/ Simulink programs PID Control System Design and Automatic Tuning using MATLAB/Simulink is intended for undergraduate electrical, chemical, mechanical, and aerospace engineering students, and will greatly benefit postgraduate students, researchers, and industrial personnel who work with control systems and their applications. |
| sliding mode control tutorial matlab: Sliding Mode Control Using MATLAB Jinkun Liu, 2017-05-25 Sliding Mode Control Using MATLAB provides many sliding mode controller design examples, along with simulation examples and MATLAB® programs. Following the review of sliding mode control, the book includes sliding mode control for continuous systems, robust adaptive sliding mode control, sliding mode control for underactuated systems, backstepping, and dynamic surface sliding mode control, sliding mode control based on filter and observer, sliding mode control for discrete systems, fuzzy sliding mode control, neural network sliding mode control, and sliding mode control for robot manipulators. The contents of each chapter are independent, providing readers with information they can use for their own needs. It is suitable for the readers who work on mechanical and electronic engineering, electrical automation engineering, etc., and can also be used as a teaching reference for universities. - Provides many sliding mode controller design examples to help readers solve their research and design problems - Includes various, implementable, robust sliding mode control design solutions from engineering applications - Provides the simulation examples and MATLAB programs for each sliding mode control algorithm |
| sliding mode control tutorial matlab: Sliding Mode Control and Observation Yuri Shtessel, Christopher Edwards, Leonid Fridman, Arie Levant, 2013-06-01 The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Robust control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications. The present volume addresses a range of sliding mode control issues, including: *Conventional sliding mode controller and observer design *Second-order sliding mode controllers and differentiators *Frequency domain analysis of conventional and second-order sliding mode controllers *Higher-order sliding mode controllers and differentiators *Higher-order sliding mode observers *Sliding mode disturbance observer based control *Numerous applications, including reusable launch vehicle and satellite formation control, blood glucose regulation, and car steering control are used as case studies Sliding Mode Control and Observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems, while being of interest to a wider audience of graduate students in electrical/mechanical/aerospace engineering and applied mathematics, as well as researchers in electrical, computer, chemical, civil, mechanical, aeronautical, and industrial engineering, applied mathematicians, control engineers, and physicists. Sliding Mode Control and Observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory. |
| sliding mode control tutorial matlab: Control Applications in Modern Power Systems Jitendra Kumar, Manoj Tripathy, Premalata Jena, 2022-05-27 The volume contains peer-reviewed proceedings of EPREC 2021 with a focus on control applications in the modern power system. The book includes original research and case studies that present recent developments in the control system, especially load frequency control, wide-area monitoring, control & instrumentation, optimization, intelligent control, energy management system, SCADA systems, etc. The book will be a valuable reference guide for beginners, researchers, and professionals interested in advancements in the control system. |
| sliding mode control tutorial matlab: Wheeled Mobile Robot Control Nardênio Almeida Martins, Douglas Wildgrube Bertol, 2021-08-12 This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book. |
| sliding mode control tutorial matlab: PID Control in the Third Millennium Ramon Vilanova, Antonio Visioli, 2012-02-03 The early 21st century has seen a renewed interest in research in the widely-adopted proportional-integral-differential (PID) form of control. PID Control in the Third Millennium provides an overview of the advances made as a result. Featuring: new approaches for controller tuning; control structures and configurations for more efficient control; practical issues in PID implementation; and non-standard approaches to PID including fractional-order, event-based, nonlinear, data-driven and predictive control; the nearly twenty chapters provide a state-of-the-art resumé of PID controller theory, design and realization. Each chapter has specialist authorship and ideas clearly characterized from both academic and industrial viewpoints. PID Control in the Third Millennium is of interest to academics requiring a reference for the current state of PID-related research and a stimulus for further inquiry. Industrial practitioners and manufacturers of control systems with application problems relating to PID will find this to be a practical source of appropriate and advanced solutions. |
| sliding mode control tutorial matlab: Electronic Engine Control Technologies Ronald K Jurgen, 2004-03-13 In this second edition of Electronic Engine Control Technologies, the latest advances and technologies of electronic engine control are explored in a collection of 99 technical papers, none of which were included in the book's first edition. Editor Ronald K. Jurgen offers an informative introduction, Neural Networks on the Rise, clearly explaining the book's overall format and layout. The book then closely examines the many areas surrounding electronic engine control technologies, including: specific engine controls, diagnostics, engine modeling, innovative solid-state hardware and software systems, communication techniques for engine control, neural network applications, and the future of electronic engine controls. |
| sliding mode control tutorial matlab: A Guide to MATLAB Brian R. Hunt, Ronald L. Lipsman, Jonathan M. Rosenberg, 2001-08-06 This book is a short, focused introduction to MATLAB and should be useful to both beginning and experienced users. |
| sliding mode control tutorial matlab: Computer Applications in Biotechnology A. Munack, K. Schönert, 2014-05-23 The 6th Computer Applications in Biotechnology (CAB6) conference was a continuation of 2 series of events: the IFAC symposia on Modelling and Control of Biotechnical Processes and the International Conferences on Computer Applications in Fermentation Technology. This conference provided the opportunity for both sides, leading researchers and industrial practitioners, in this interdisciplinary field to exchange new ideas and technology; concepts and solutions. This postprint volume contains all those papers which were presented at the conference. |
| sliding mode control tutorial matlab: Piecewise Affine Control: Continuous-Time, Sampled-Data, and Networked Systems Luis Rodrigues, Behzad Samadi, Miad Moarref, 2019-11-06 Engineering systems operate through actuators, most of which will exhibit phenomena such as saturation or zones of no operation, commonly known as dead zones. These are examples of piecewise-affine characteristics, and they can have a considerable impact on the stability and performance of engineering systems. This book targets controller design for piecewise affine systems, fulfilling both stability and performance requirements. The authors present a unified computational methodology for the analysis and synthesis of piecewise affine controllers, taking an approach that is capable of handling sliding modes, sampled-data, and networked systems. They introduce algorithms that will be applicable to nonlinear systems approximated by piecewise affine systems, and they feature several examples from areas such as switching electronic circuits, autonomous vehicles, neural networks, and aerospace applications. Piecewise Affine Control: Continuous-Time, Sampled-Data, and Networked Systems is intended for graduate students, advanced senior undergraduate students, and researchers in academia and industry. It is also appropriate for engineers working on applications where switched linear and affine models are important. |
| sliding mode control tutorial matlab: Introduction to Simulink with Engineering Applications Steven T. Karris, 2006 This text is an introduction to Simulink, a companion application to MATLAB. It is written for students at the undergraduate and graduate programs, as well as for the working professional. Although some previous knowledge of MATLAB would be helpful, it is not absolutely necessary; Appendix A of this text is an Introduction to MATLAB to enable the reader to begin learning both MATLAB and Simulink to perform graphical computations and programming.Chapters 2 through 18 describe the blocks of all Simulink libraries. Their application is illustrated with practical examples through Simulink models, some of which are supplemented with MATLAB functions, commands, and statements. Chapters 1 and 19 contain several Simulink models to illustrate various applied math and engineering applications. Appendix B is an introduction to difference equations as they apply to discrete?{time systems, and Appendix C introduces the reader to random generation procedures.This text supplements our Numerical Analysis with MATLAB and Spreadsheet Applications, ISBN 0-9709511-1-6. It is self-contained; the blocks of each library are described in an orderly fashion that is consistent with Simulink!|s documentation. This arrangement provides insight into how a model is used and how its parts interact with each another.Like MATLAB, Simulink can be used with both linear and nonlinear systems, which can be modeled in continuous time, sample time, or a hybrid of these. Examples are provided in this text.Most of the examples presented in this book can be implemented with the Student Versions of MATLAB and Simulink. A few may require the full versions of these outstanding packages, and can be skipped. Some add?{ons, known as Toolboxes and Blocksets can be obtained from The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760?{2098, USA, www.mathworks.com. |
| sliding mode control tutorial matlab: Variable Structure Systems, Sliding Mode and Nonlinear Control K.D. Young, Ü. Özgüner, 2007-10-03 This book comprises a selection of papers that were first presented at VSS98 (5th International Workshop on Variable Structure Systems) held in Sarasota, Florida. This workshop was the fifth in a series of VSS international workshops, and the first to be held in the United States. Work presented herein on theoretical developments and applications on VSS and Sliding Mode, reflects how trends have advanced beyond the original ideas that are now well documented in a number of books and research monographs. In particular, the concepts of Sliding Sector and Second Order Sliding Mode introduced in this volume, will stimulate discussions and invite further extensions. Also, the focus on Sampled Data systems represents a positive trend towards practical industrial implementations of sliding mode controllers. |
| sliding mode control tutorial matlab: Control Of Chaos In Nonlinear Circuits And Systems Bingo Wing-kuen Ling, Herbert Ho-ching Iu, Hak-keung Lam, 2008-12-22 In this book, leading researchers present their current work in the challenging area of chaos control in nonlinear circuits and systems, with emphasis on practical methodologies, system design techniques and applications. A combination of overview, tutorial and technical articles, the book describes state-of-the-art research on significant problems in this area. The scope and aim of this book are to bridge the gap between chaos control methods and circuits and systems. It is an ideal starting point for anyone who needs a fundamental understanding of controlling chaos in nonlinear circuits and systems. |
| sliding mode control tutorial matlab: Robust Control of DC-DC Converters Farzin Asadi, 2022-05-31 DC-DC converters require negative feedback to provide a suitable output voltage or current for the load. Obtaining a stable output voltage or current in the presence of disturbances like input voltage changes and/or output load changes seems impossible without some form of control. This book shows how simple controllers such as Proportional-Integral (PI) can turn into a robust controller by correct selection of its parameters. Kharitonov's theorem is an important tool toward this end. This book consist of two parts. The first part shows how one can obtain the interval plant model of a DC-DC converter. The second part introduces the Kharitonov's theorem. Kharitonov's theorem is an analysis tool rather than a design tool. Some case studies show how it can be used as a design tool. The prerequisite for reading this book is a first course on feedback control theory and power electronics. |
| sliding mode control tutorial matlab: Multicopter Design and Control Practice Quan Quan, Xunhua Dai, Shuai Wang, 2021-04-18 As the sister book to “Introduction to Multicopter Design and Control,” published by Springer in 2017, this book focuses on using a practical process to help readers to deepen their understanding of multicopter design and control. Novel tools with tutorials on multicopters are presented, which can help readers move from theory to practice. Experiments presented in this book employ: (1) The most widely-used flight platform – multicopters – as a flight platform; (2) The most widely-used flight pilot hardware – Pixhawk – as a control platform; and (3) One of the most widely-used programming languages in the field of control engi-neering – MATLAB + Simulink – as a programming language. Based on the current advanced development concept Model-Based Design (MBD)process, the three aspects mentioned above are closely linked. Each experiment is implemented in MATLAB and Simulink, and the numerical simula-tion test is carried out on a built simulation platform. Readers can upload the controller to the Pixhawk autopilot using automatic code generation technology and form a closed loop with a given real-time simulator for Hardware-In-the-Loop (HIL) testing. After that, the actual flight with the Pixhawk autopilot can be performed. This is by far the most complete and clear guide to modern drone fundamentals I’ve seen.It covers every element of these advanced aerial robots and walks through examples and tutorials based on the industry’s leading open-source software and tools. Read this book, and you’ll be well prepared to work at the leading edge of this exciting new industry. Chris Anderson, CEO 3DR and Chairman, the Linux Foundation’s Dronecode Project The development of a multicopter and its applications is very challenging in the robotics area due to the multidomain knowledge involved. This book systematically addresses the design, simulation and implementation of multicopters with the industrial leading workflow – Model-Based Design, commonly used in the automotive and aero-defense industries. With this book, researchers and engineers can seamlessly apply the concepts, workflows, and tools in other engineering areas, especially robot design and robotics ap-plication development. Dr. Yanliang Zhang, Founder of Weston Robot, EX-product Manager of Robotics System Toolbox at the MathWorks |
| sliding mode control tutorial matlab: An Introduction to Reservoir Simulation Using MATLAB/GNU Octave Knut-Andreas Lie, 2019-08-08 Presents numerical methods for reservoir simulation, with efficient implementation and examples using widely-used online open-source code, for researchers, professionals and advanced students. This title is also available as Open Access on Cambridge Core. |
| sliding mode control tutorial matlab: Sliding Modes in Control and Optimization Vadim I. Utkin, 2013-03-12 The book is devoted to systems with discontinuous control. The study of discontinuous dynamic systems is a multifacet problem which embraces mathematical, control theoretic and application aspects. Times and again, this problem has been approached by mathematicians, physicists and engineers, each profession treating it from its own positions. Interestingly, the results obtained by specialists in different disciplines have almost always had a significant effect upon the development of the control theory. It suffices to mention works on the theory of oscillations of discontinuous nonlinear systems, mathematical studies in ordinary differential equations with discontinuous righthand parts or variational problems in nonclassic statements. The unremitting interest to discontinuous control systems enhanced by their effective application to solution of problems most diverse in their physical nature and functional purpose is, in the author's opinion, a cogent argument in favour of the importance of this area of studies. It seems a useful effort to consider, from a control theoretic viewpoint, the mathematical and application aspects of the theory of discontinuous dynamic systems and determine their place within the scope of the present-day control theory. The first attempt was made by the author in 1975-1976 in his course on The Theory of Discontinuous Dynamic Systems and The Theory of Variable Structure Systems read to post-graduates at the University of Illinois, USA, and then presented in 1978-1979 at the seminars held in the Laboratory of Systems with Discontinous Control at the Institute of Control Sciences in Moscow. |
| sliding mode control tutorial matlab: Design of Delay-Based Controllers for Linear Time-Invariant Systems Adrián Ramírez, Rifat Sipahi, Sabine Mondié, Rubén Garrido, 2025-01-01 This book provides the mathematical foundations needed for designing practical controllers for linear time-invariant systems. The authors accomplish this by incorporating intentional time delays into measurements with the goal of achieving anticipation capabilities, reduction in noise sensitivity, and a fast response. The benefits of these types of delay-based controllers have long been recognized, but designing them based on an analytical approach became possible only recently. Design of Delay-Based Controllers for Linear Time-Invariant Systems provides a thorough survey of the field and the details of the analytical approaches needed to design delay-based controllers. In addition, readers will find accessible mathematical tools and self-contained proofs for rigorous analysis, numerous examples and comprehensive computational algorithms to motivate the results, and experiments on single-input single-output systems and multi-agent systems using real-world control applications to illustrate the benefits of intentionally inducing delays in control loops. This book is intended for control engineers in various disciplines, including electrical, mechanical, and mechatronics engineering. It offers valuable insights for graduate students, researchers, and professionals working in industry. |
| sliding mode control tutorial matlab: Output Tracking in Non-minimum Phase Systems Bijnan Bandyopadhyay, Machhindranath Patil, 2024-12-02 This book focuses on the systematic design of reduced-order sliding mode output tracking control for non-minimum phase systems. It presents a systematic method for the design of reduced order control law for a wide variety of systems. The target audience primarily comprises research experts in control theory, but the book may also be beneficial for graduate students. |
| sliding mode control tutorial matlab: Nonlinear Control and Analytical Mechanics Harry G. Kwatny, Gilmer Blankenship, 2000-09-08 During the past decade we have had to confront a series of control design prob lems - involving, primarily, multibody electro-mechanical systems - in which nonlinearity plays an essential role. Fortunately, the geometric theory of non linear control system analysis progressed substantially during the 1980s and 90s, providing crucial conceptual tools that addressed many of our needs. However, as any control systems engineer can attest, issues of modeling, computation, and implementation quickly become the dominant concerns in practice. The prob lems of interest to us present unique challenges because of the need to build and manipulate complex mathematical models for both the plant and controller. As a result, along with colleagues and students, we set out to develop computer algebra tools to facilitate model building, nonlinear control system design, and code generation, the latter for both numerical simulation and real time con an outgrowth of that continuing effort. As trol implementation. This book is a result, the unique features of the book includes an integrated treatment of nonlinear control and analytical mechanics and a set of symbolic computing software tools for modeling and control system design. By simultaneously considering both mechanics and control we achieve a fuller appreciation of the underlying geometric ideas and constructions that are common to both. Control theory has had a fruitful association with analytical mechanics from its birth in the late 19th century. |
| sliding mode control tutorial matlab: Sliding Mode Control in Electro-Mechanical Systems Vadim Utkin, Juergen Guldner, Jingxin Shi, 2017-12-19 Apply Sliding Mode Theory to Solve Control Problems Interest in SMC has grown rapidly since the first edition of this book was published. This second edition includes new results that have been achieved in SMC throughout the past decade relating to both control design methodology and applications. In that time, Sliding Mode Control (SMC) has continued to gain increasing importance as a universal design tool for the robust control of linear and nonlinear electro-mechanical systems. Its strengths result from its simple, flexible, and highly cost-effective approach to design and implementation. Most importantly, SMC promotes inherent order reduction and allows for the direct incorporation of robustness against system uncertainties and disturbances. These qualities lead to dramatic improvements in stability and help enable the design of high-performance control systems at low cost. Written by three of the most respected experts in the field, including one of its originators, this updated edition of Sliding Mode Control in Electro-Mechanical Systems reflects developments in the field over the past decade. It builds on the solid fundamentals presented in the first edition to promote a deeper understanding of the conventional SMC methodology, and it examines new design principles in order to broaden the application potential of SMC. SMC is particularly useful for the design of electromechanical systems because of its discontinuous structure. In fact, where the hardware of many electromechanical systems (such as electric motors) prescribes discontinuous inputs, SMC becomes the natural choice for direct implementation. This book provides a unique combination of theory, implementation issues, and examples of real-life applications reflective of the authors’ own industry-leading work in the development of robotics, automobiles, and other technological breakthroughs. |
| sliding mode control tutorial matlab: Recent Advances in Robust Control Andreas Müller, 2011-11-21 Robust control has been a topic of active research in the last three decades culminating in H_2/H_\infty and \mu design methods followed by research on parametric robustness, initially motivated by Kharitonov's theorem, the extension to non-linear time delay systems, and other more recent methods. The two volumes of Recent Advances in Robust Control give a selective overview of recent theoretical developments and present selected application examples. The volumes comprise 39 contributions covering various theoretical aspects as well as different application areas. The first volume covers selected problems in the theory of robust control and its application to robotic and electromechanical systems. The second volume is dedicated to special topics in robust control and problem specific solutions. Recent Advances in Robust Control will be a valuable reference for those interested in the recent theoretical advances and for researchers working in the broad field of robotics and mechatronics. |
| sliding mode control tutorial matlab: Transfinite Interpolation and Eulerian/Lagrangian Dynamics André Garon, Michel C. Delfour, 2022-03-25 This book introduces transfinite interpolation as a generalization of interpolation of data prescribed at a finite number of points to data prescribed on a geometrically structured set, such as a piece of curve, surface, or submanifold. The time-independent theory is readily extended to a moving/deforming data set whose dynamics is specified in a Eulerian or Lagrangian framework. The resulting innovative tools cover a very broad spectrum of applications in fluid mechanics, geometric optimization, and imaging. The authors chose to focus on the dynamical mesh updating in fluid mechanics and the construction of velocity fields from the boundary expression of the shape derivative. Transfinite Interpolations and Eulerian/Lagrangian Dynamics is a self-contained graduate-level text that integrates theory, applications, numerical approximations, and computational techniques. It applies transfinite interpolation methods to finite element mesh adaptation and ALE fluid-structure interaction. Specialists in applied mathematics, physics, mechanics, computational sciences, imaging sciences, and engineering will find this book of interest. |
SLIDING | definition in the Cambridge English Dictionary
When he's turning a double play and jumping over a guy sliding into second, he could include it. Those who can pay are charged on a sliding scale, from $5 to $30. The child and dependent …
SLIDING Definition & Meaning - Merriam-Webster
The meaning of SLIDE is to move smoothly along a surface : slip. How to use slide in a sentence.
SLIDING Definition & Meaning | Dictionary.com
Sliding definition: rising or falling, increasing or decreasing, according to a standard or to a set of conditions.. See examples of SLIDING used in a sentence.
Sliding - definition of sliding by The Free Dictionary
n. 1. A sliding movement or action. 2. a. A smooth, usually inclined surface or track for sliding: a water slide. b. A playground apparatus for children to slide on, typically consisting of a smooth …
Sliding - Definition, Meaning & Synonyms | Vocabulary.com
6 days ago · /ˈslaɪdɪŋ/ IPA guide Other forms: slidingly Definitions of sliding adjective being a smooth continuous motion synonyms:
SLIDING definition in American English | Collins English Dictionary
2 senses: 1. rising or falling in accordance with given specifications 2. regulated or moved by sliding.... Click for more definitions.
sliding - WordReference.com Dictionary of English
to move along in continuous contact with a smooth or slippery surface: to slide down a snow-covered hill. to slip or skid. to glide or pass smoothly. to slip easily, quietly, or unobtrusively on …
slide verb - Definition, pictures, pronunciation and usage notes ...
Definition of slide verb from the Oxford Advanced Learner's Dictionary. [intransitive, transitive] to move easily over a smooth or wet surface; to make something move in this way. As I turned …
sliding - Wiktionary, the free dictionary
Mar 26, 2025 · sliding The act of making a slip or losing one's traction. (rare) Effortless or fluid movement. (rare) Dragging; moving something alongside oneself.
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SLIDING | definition in the Cambridge English Dictionary
When he's turning a double play and jumping over a guy sliding into second, he could include it. Those who can pay are charged on a sliding scale, from $5 to $30. The child and dependent …
SLIDING Definition & Meaning - Merriam-Webster
The meaning of SLIDE is to move smoothly along a surface : slip. How to use slide in a sentence.
SLIDING Definition & Meaning | Dictionary.com
Sliding definition: rising or falling, increasing or decreasing, according to a standard or to a set of conditions.. See examples of SLIDING used in a sentence.
Sliding - definition of sliding by The Free Dictionary
n. 1. A sliding movement or action. 2. a. A smooth, usually inclined surface or track for sliding: a water slide. b. A playground apparatus for children to slide on, typically consisting of a smooth …
Sliding - Definition, Meaning & Synonyms | Vocabulary.com
6 days ago · /ˈslaɪdɪŋ/ IPA guide Other forms: slidingly Definitions of sliding adjective being a smooth continuous motion synonyms:
SLIDING definition in American English | Collins English Dictionary
2 senses: 1. rising or falling in accordance with given specifications 2. regulated or moved by sliding.... Click for more definitions.
sliding - WordReference.com Dictionary of English
to move along in continuous contact with a smooth or slippery surface: to slide down a snow-covered hill. to slip or skid. to glide or pass smoothly. to slip easily, quietly, or unobtrusively on …
slide verb - Definition, pictures, pronunciation and usage notes ...
Definition of slide verb from the Oxford Advanced Learner's Dictionary. [intransitive, transitive] to move easily over a smooth or wet surface; to make something move in this way. As I turned …
sliding - Wiktionary, the free dictionary
Mar 26, 2025 · sliding The act of making a slip or losing one's traction. (rare) Effortless or fluid movement. (rare) Dragging; moving something alongside oneself.
Sliding Patio Door - Patio Doors - The Home Depot
Get free shipping on qualified Sliding Patio Door Patio Doors products or Buy Online Pick Up in Store today in the Doors & Windows Department.
