The robust tracking control of MIMO systems by means of simple decentralized variable-structure controllers is considered. The model of the system that is assumed to be available is a linear I/O map (e.g., a transfer function matrix) affected by bounded uncertainties and subject to bounded input disturbances. A sufficient condition is derived there to exist the possibility of exact tracking by decentralized sliding-mode control. The condition can be seen as a time-domain counterpart to Rosenbrock's diagonal dominance criterion (1974). The structure of a simple controller implementing the technique is presented along with simulation results
A Diagonal Dominance Condition for Robust Decentralized Variable Structure Control
BALLUCHI, ANDREA;BALESTRINO, ALDO
1994-01-01
Abstract
The robust tracking control of MIMO systems by means of simple decentralized variable-structure controllers is considered. The model of the system that is assumed to be available is a linear I/O map (e.g., a transfer function matrix) affected by bounded uncertainties and subject to bounded input disturbances. A sufficient condition is derived there to exist the possibility of exact tracking by decentralized sliding-mode control. The condition can be seen as a time-domain counterpart to Rosenbrock's diagonal dominance criterion (1974). The structure of a simple controller implementing the technique is presented along with simulation resultsI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
