Universal single-input-single-output (SISO) sliding-mode controllers with finite-time convergence
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- 1 September 2001
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 46 (9) , 1447-1451
- https://doi.org/10.1109/9.948475
Abstract
An universal controller is constructed, formulated in input-output terms only, which causes the output of any uncertain smooth single-input single-output (SISO) minimum-phase dynamic system with known relative degree to vanish in finite time. This allows exact tracking of arbitrary real-time smooth signals. Only one parameter is to be adjusted. Since the approach is based on higher order finite time-convergence sliding modes, the control can be made arbitrarily smooth, providing for the arbitrarily-high tracking-accuracy order with respect to the sampling step.Keywords
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