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Open AccessArticle

Tuning and Feasibility Analysis of Classical First-Order MIMO Non-Linear Sliding Mode Control Design for Industrial Applications

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Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture, University of Genoa, Via Opera Pia 11a, I-16145 Genoa, Italy
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Faculty of electronic engineering, University of Niš, Univerzitetski trg 2, 18106 Niš, Serbia
*
Author to whom correspondence should be addressed.
Machines 2019, 7(1), 10; https://doi.org/10.3390/machines7010010
Received: 30 November 2018 / Revised: 11 January 2019 / Accepted: 14 January 2019 / Published: 18 January 2019
Model-based control techniques have been gaining more and more interest these days. These complex control systems are mostly based on theories, such as feedback linearization, model predictive control, adaptive and robust control. In this paper the latter approach is investigated, in particular, sliding mode (SM) control is analyzed. While several works on the description and application of SM control on single-input single-output systems can easily be found, its application on multi-input multi-output systems is not examined in depth at the same level. Hence, this work aims at formalizing some theoretical complements about the necessary conditions for the feasibility of the SM control for multi-input-multi-output systems. Furthermore, in order to obtain the desired performance from the control system, a method for parameter tuning is proposed in the particular case in which the relative degree of the controlled channels is equal to one. Finally, a simple control problem example is shown with the aim of stressing the benefits derived from the application of the theoretical complements described here. View Full-Text
Keywords: nonlinear systems control; sliding mode control; robust control; uncertain systems nonlinear systems control; sliding mode control; robust control; uncertain systems
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MDPI and ACS Style

Palmieri, A.; Procopio, R.; Bonfiglio, A.; Brignone, M.; Invernizzi, M.; Morini, A.; Veselic’, B. Tuning and Feasibility Analysis of Classical First-Order MIMO Non-Linear Sliding Mode Control Design for Industrial Applications. Machines 2019, 7, 10.

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