Abstract
A Quasi-Sliding Mode (QSM) based tracking control method for tackling Multiple-Input Multiple-Output (MIMO) nonlinear continuous-time systems with un-matching system uncertainties and exogenous disturbances is proposed. The presented Repetitive Control (RC) scheme ensures robust system stability when the system is subject to non-periodic uncertainties and exogenous disturbances. The complete rejection of periodic exogenous disturbances and a perfect tracking of non-periodic reference trajectories are achievable. In this paper, a practical application to a mass-spring-damper system is used to illustrate the validity of the proposed QSM based RC method. © 2008 Elsevier Ltd. All rights reserved.
| Original language | English |
|---|---|
| Pages (from-to) | 103-108 |
| Journal | Automatica |
| Volume | 45 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Jan 2009 |
Research Keywords
- Nonlinear continuous-time systems
- Periodic exogenous disturbances
- Quasi-sliding mode
- Repetitive control
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