Perturbation Observer-Based Robust Control Using a Multiple Sliding Surfaces for Nonlinear Systems with Influences of Matched and Unmatched Uncertainties
Ha Le Nhu Ngoc Thanh, Mai The Vu, Nguyen Xuan-Mung, Ngoc Phi Nguyen, Nguyen Thanh Phuong
Abstract
This paper presents a lumped perturbation observer-based robust control method using an extended multiple sliding surface for a system with matched and unmatched uncertainties. The fundamental methodology is to apply the multiple surfaces to approximate the unknown lumped perturbations simultaneously influencing on a nonlinear single input–single output (SISO) system. Subsequently, a robust controller, based on the proposed multi-surface and the approximated values, is designed to highly improve the control performance of the system. A general stability of the lumped perturbation observer and closed-loop control system is obtained through the Lyapunov theory. Results of a numerical simulation of an illustrative example demonstrate the soundness of the proposed algorithm.