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This book covers a wide range of up-to-date sliding mode Variable Structure Control (VSC) and Lyapunov Control research and design techniques for the robust control of uncertain systems. In direct contrast to most adaptive controllers, these deterministic controllers employ fixed nonlinear feedback control functions, which operate effectively over a specified magnitude range of system parameter variations and disturbances. There are 18 chapters covering and discussing such topics as the theoretical and practical design of controllers for uncertain multivariable systems, novel algebraic approaches for sliding mode control, discrete-time control, and the stabilizing VSC of uncertain infinite-dimensional systems. The main areas of application include electric motor drives, robotics, flight control and space systems, as well as power electronics and chemical processes, some of which are described in the book.
List of contents
An introduction to sliding mode variable structure control.- An algebraic approach to sliding mode control.- Robust tracking with a sliding mode.- Sliding surface design in the frequency domain.- Sliding mode control in discrete-time and difference systems.- Generalized sliding modes for manifold control of distributed parameter systems.- Digital variable structure control with pseudo-sliding modes.- Robust observer-controller design for linear systems.- Robust stability analysis and controller design with quadratic Lyapunov functions.- Universal controllers: Nonlinear feedback and adaptation.- Lyapunov stabilization of a class of uncertain affine control systems.- The role of morse-Lyapunov functions in the design of nonlinear global feedback dynamics.- Polytopic coverings and robust stability analysis via Lyapunov quadratic forms.- Model-following VSC using an input-output approach.- Combined adaptive and Variable Structure Control.- Variable structure control of nonlinear systems: Experimental case studies.- Applications of VSC in motion control systems.- VSC synthesis of industrial robots.
