Modified sliding mode control for mismatched uncertain large-scale systems

Tác giả: Van Huynh V., Dinh B.H.

Abstract:  In this paper, a modified sliding mode control is proposed to stabilize a class of largescale systems with mismatched uncertainties, unknown exogenous disturbances and without the measurements of the states. Based on the Lyapunov method, appropriate linear matrix inequality stability conditions are derived to guarantee the stability of the system. Then, a modified adaptive sliding mode control law is proposed to guarantee the finite time reachability of the system states by using output feedback only. Final, a double-inverted pendulums system connected by a spring is simulated to demonstrate the efficacy of the proposed method.