HOSM Controllers for Systems of $2$ Outputs with Relative Degree $2$

Resumen: In this paper we present the Lyapunov-based design of Higher-Order SlidingMode controllers for MIMO systems with uncertain input matrix. For simplicity we restrict the presentation to 2 × 2 MIMO systems and relative degree 2. These controllers can stabilize the origin of the MIMO system despite of matched bounded uncertainties/perturbations. We consider three different uncertainty structures of the input matrix, for which a controller can be designed, extending the results obtained so far in the literature.The results are illustrated by means of simulations.

¿Cómo citar?

Jose Angel Mercado Uribe & Jaime A Moreno. HOSM Controllers for Systems of $2$ Outputs with Relative Degree $2$. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

Homogeneous Control, Robust Control, Sliding Mode Control

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