Comparative analysis of first order and second order discrete sliding mode control for non-minimum phase systems

摘要

Discrete sliding mode control (DSMC) with the classical sliding function in input-output representation (I/O) is not feasible for non-minimum phase systems (NMPS), as the existence of unstable zero. To settle this issue, the first order DSMC (FODSMC) with the generalized sliding function (GSF) for NMPS is proposed in this paper. The trouble of the chattering phenomenon has been always the major problem of the FODSMC. As a solution, we propose a second order DSMC (SODSMC) via I/O model with GSF. The obtained control law is synthesized for NMPS. Simulation example is shown to illustrate the importance of the proposed method.