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Analysis of Sliding-Mode Control Systems with Unmatched Disturbances Altering the Relative Degree

Posielek, Tobias and Wulff, Kai and Johann, Reger (2020) Analysis of Sliding-Mode Control Systems with Unmatched Disturbances Altering the Relative Degree. IFAC-PapersOnLine, 53 (2), pp. 5122-5128. IFAC Secretariat. doi: 10.1016/j.ifacol.2020.12.1149. ISSN 2405-8963.

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Official URL: https://www.sciencedirect.com/science/article/pii/S2405896320315378


We consider sliding-mode control systems subject to unmatched disturbances. Classical first-order sliding-mode techniques are capable to compensate unmatched disturbances if differentiations of the output of sufficiently high order are included in the sliding variable. For such disturbances it is commonly assumed that they do not affect the relative degree of the system. In this contribution we consider disturbances that alter the relative degree of the process and study their impact on the closed-loop control system with the classical first-order sliding-mode design. We analyse the reaching and sliding phase of the resulting closed-loop system. We show that uniqueness of the solution may be lost and derive conditions for such behaviour. We present conditions for the stability of the sliding-mode dynamics and analyse the disturbance rejection properties. A simulation case study of a two-mass spring-damper system illustrates the various closed-loop behaviours.

Item URL in elib:https://elib.dlr.de/144684/
Document Type:Article
Title:Analysis of Sliding-Mode Control Systems with Unmatched Disturbances Altering the Relative Degree
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Posielek, Tobiastobias.posielek (at) dlr.deUNSPECIFIED
Wulff, Kaikai.wulff (at) tu-ilmenau.deUNSPECIFIED
Johann, Regerjohann.reger (at) tu-ilmenau.deUNSPECIFIED
Journal or Publication Title:IFAC-PapersOnLine
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1016/j.ifacol.2020.12.1149
Page Range:pp. 5122-5128
Publisher:IFAC Secretariat
Keywords:Sliding-mode control, Unmatched disturbances, Relative degree
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Project GigaStore
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control
Deposited By: Posielek, Tobias
Deposited On:19 Oct 2021 12:01
Last Modified:19 Oct 2021 12:01

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