The subject of this paper is the analysis and the design of a class of robust discrete-time Variable-Structure controllers of integral type. We refer to the Discontinuous Integral Control (DIC) technique, already developed by the authors for the time-continuous case, where a nonlinear integral action is used for estimating the external disturbance and keeping small the discontinuous term in the control law and the subsequent chattering effect. A discretised version of the DIC algorithm, which is properly modified in order to take into account the time-derivative information on the controlled variable, is introduced and discussed. The so-obtained discrete-time controller shows to be very effective in reducing the chattering when the system parameters are known. Moreover, to cope with a specific case of unknown parameters, a new adaptive control structure is proposed and analysed. The local asymptotic stability of the resulting closed-loop system is proved in the case of constant external disturbances. Finally, simulation results on the velocity control of a DC motor end the paper.

Discrete Variable Structure Integral Controllers / Bonivento, Claudio; M., Sandri; Zanasi, Roberto. - In: AUTOMATICA. - ISSN 0005-1098. - STAMPA. - 34:(1998), pp. 355-361.

Discrete Variable Structure Integral Controllers

BONIVENTO, Claudio;ZANASI, Roberto
1998

Abstract

The subject of this paper is the analysis and the design of a class of robust discrete-time Variable-Structure controllers of integral type. We refer to the Discontinuous Integral Control (DIC) technique, already developed by the authors for the time-continuous case, where a nonlinear integral action is used for estimating the external disturbance and keeping small the discontinuous term in the control law and the subsequent chattering effect. A discretised version of the DIC algorithm, which is properly modified in order to take into account the time-derivative information on the controlled variable, is introduced and discussed. The so-obtained discrete-time controller shows to be very effective in reducing the chattering when the system parameters are known. Moreover, to cope with a specific case of unknown parameters, a new adaptive control structure is proposed and analysed. The local asymptotic stability of the resulting closed-loop system is proved in the case of constant external disturbances. Finally, simulation results on the velocity control of a DC motor end the paper.
34
355
361
Discrete Variable Structure Integral Controllers / Bonivento, Claudio; M., Sandri; Zanasi, Roberto. - In: AUTOMATICA. - ISSN 0005-1098. - STAMPA. - 34:(1998), pp. 355-361.
Bonivento, Claudio; M., Sandri; Zanasi, Roberto
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/460842
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 15
  • ???jsp.display-item.citation.isi??? 14
social impact