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Sliding Mode Control with Minimization of ITAE and the Input Signal Limitation

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Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques (AUTOMATION 2021)

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Abstract

In this paper a second order, continuous-time system perturbed by external disturbances is presented. The robustness for the whole control process is achieved by applying a time-varying switching line. Moreover, a finite time convergence of the representative point to the demand state is ensured by selecting a nonlinear sliding curve. An absolute value of the control signal is limited from above by a positive parameter. ITAE quality index is applied in order to evaluate the dynamical performance of the system.

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Authors and Affiliations

  1. Institute of Automatic Control, Łodź University of Technology, 18/22 Stefanowskiego Street, 90-924, Łodź, Poland

    Mateusz Pietrala

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  1. Mateusz Pietrala
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Correspondence to Mateusz Pietrala .

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Editors and Affiliations

  1. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

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Pietrala, M. (2021). Sliding Mode Control with Minimization of ITAE and the Input Signal Limitation. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques. AUTOMATION 2021. Advances in Intelligent Systems and Computing, vol 1390. Springer, Cham. https://doi.org/10.1007/978-3-030-74893-7_8

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