Optimal and Robust Sliding Mode Regulator for Linear Systems with Delayed Control
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| Format: | Artículo científico |
| Language: | en |
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Instituto Politécnico Nacional
2005
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| _version_ | 1876491377632608256 |
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| author | Michael Basin |
| author_facet | Michael Basin |
| contents | Optimal and Robust Sliding Mode Regulator for Linear Systems with Delayed Control Michael Basin Jesus Rodríguez Gonzalez Pedro Acosta Leonid Fridman Computación Filtering Linear time delay system Optimal control Sliding mode regulator This paper presents the optimal regulator for a linear system with time delay in control input and a quadratic criterion. The optimal regulator equations are obtained using the duality principle, which is applied to the optimal filter for linear systems with time delay in observations. Performance of the obtained optimal regulator is verified in the illustrative example against the best linear regulator available for linear systems without delays. Simulation graphs and comparison tables demonstrating better performance of the obtained optimal regulator are included. The paper then presents a robustification algorithm for the obtained optimal regulator based on integral sliding mode compensation of disturbances. The general principles of the integral sliding mode compensator design are modified to yield the basic control algorithm oriented to time-delay systems, which is then applied to robustify the optimal regulator. As a result, the sliding mode compensating control leading to suppression of the disturbances from the initial time moment is designed. The obtained robust control algorithm is verified by simulations in the illustrative example. 2005 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61590205 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.2 Vol.9 |
| format | Artículo científico |
| id | redalyc_61590205 |
| institution | Redalyc |
| language | en |
| publishDate | 2005 |
| publisher | Instituto Politécnico Nacional |
| spellingShingle | Optimal and Robust Sliding Mode Regulator for Linear Systems with Delayed Control Michael Basin Computación Filtering Linear time delay system Optimal control Sliding mode regulator Optimal and Robust Sliding Mode Regulator for Linear Systems with Delayed Control Michael Basin Jesus Rodríguez Gonzalez Pedro Acosta Leonid Fridman Computación Filtering Linear time delay system Optimal control Sliding mode regulator This paper presents the optimal regulator for a linear system with time delay in control input and a quadratic criterion. The optimal regulator equations are obtained using the duality principle, which is applied to the optimal filter for linear systems with time delay in observations. Performance of the obtained optimal regulator is verified in the illustrative example against the best linear regulator available for linear systems without delays. Simulation graphs and comparison tables demonstrating better performance of the obtained optimal regulator are included. The paper then presents a robustification algorithm for the obtained optimal regulator based on integral sliding mode compensation of disturbances. The general principles of the integral sliding mode compensator design are modified to yield the basic control algorithm oriented to time-delay systems, which is then applied to robustify the optimal regulator. As a result, the sliding mode compensating control leading to suppression of the disturbances from the initial time moment is designed. The obtained robust control algorithm is verified by simulations in the illustrative example. 2005 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61590205 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.2 Vol.9 |
| title | Optimal and Robust Sliding Mode Regulator for Linear Systems with Delayed Control |
| topic | Computación Filtering Linear time delay system Optimal control Sliding mode regulator |
| url | https://www.redalyc.org/articulo.oa?id=61590205 |