In the sliding mode control system, how to configure the controller, program and system

摘要

PROBLEM TO BE SOLVED: To automatically discriminate whether to apply sliding mode control in a plant from minimum required measured experimental data.;SOLUTION: A system first measures a plant in an open control manner and uses the measured data to describe a state equation of the plant in accordance with an existing system identification technique and an order determination method. A switching hyperplane of sliding mode control is designed. Next, regarding a difference between output in the case where only control input of a linear model restricted by the hyperplane is used, and output in the case where control input of a sliding mode is used, a higher-order statistic of a third-order moment and a fourth-order moment are calculated. In the case where a value of the third-order moment is greater than a predetermined threshold value or a value of the fourth-order moment is greater than the predetermined threshold value, a controller is configured as a sum of a linear control input term and a non-linear control input term. In the case where it is determined that both the value of the third-order moment and the value of the fourth-order moment are smaller than the predetermined threshold value, the system uses only the linear control input term to configure the controller.;COPYRIGHT: (C)2012,JPO&INPIT