This paper investigates the stabilization problem for discrete-time linear controllable systems subject to actuator saturation. In the case of completely known plants, a control design technique based on a time varying sliding surface is proposed ensuring stabilization under the assumption of availability of all state measurements. Further, in the presence of matched disturbances with known constant bound, a discrete time sliding mode controller is proposed ensuring plant practical stabilization, and a conservative estimate of the attraction domain is given. Theoretical results have been validated by experimental data using a twin-rotor system.

Stabilization of discrete-time linear systems with saturating actuators using sliding modes: application to a twin-rotor system

CORRADINI, Maria Letizia;CRISTOFARO, ANDREA;
2011

Abstract

This paper investigates the stabilization problem for discrete-time linear controllable systems subject to actuator saturation. In the case of completely known plants, a control design technique based on a time varying sliding surface is proposed ensuring stabilization under the assumption of availability of all state measurements. Further, in the presence of matched disturbances with known constant bound, a discrete time sliding mode controller is proposed ensuring plant practical stabilization, and a conservative estimate of the attraction domain is given. Theoretical results have been validated by experimental data using a twin-rotor system.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11581/218480
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