A dynamical variable structure control strategy in asymptotic output tracking problems

Abstract

A dynamical discontinuous feedback strategy of the sliding mode type is presented for asymptotic output tracking problems in nonlinear dynamical systems. N. Fliess' (1989, 1990) generalized observability canonical form (GOCF) is used in the derivation of the dynamical variable structure feedback controller. For a large class of nonlinear systems, a truly effective smoothing of the sliding mode controlled responses is possible, while substantially reducing the chattering for the control output. For this reason, the technique is especially suitable for the control of some mechanical and electromechanical systems. An example, including simulations, is provided.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>