Ngadengon, Rafidah and Md Sam, Yahaya and Osman, Johari Halim Shah and Tomari, Razali (2015) Tracking with multirate output feedback (MROF) based discrete sliding mode control. ARPN Journal of Engineering and Applied Sciences, 10 (20). pp. 9902-9907. ISSN 1819-6608
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Abstract
In this paper, a discrete sliding mode controller with multirate output feedback is designed to control the inverted pendulum system at the upright position. Most of the SMC control strategies are based on state feedback, however not all of the state feedbacks are available. The multirate output feedback (MROF) used output feedback, therefore the state are always available at any condition. The error state variable was added to the system to achieve reference tracking. The MROF was compared with discrete Proportional Integral Derivative (PID) and discrete Linear Quadratic Regulator (LQR).
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | discrete sliding mode control, inverted pendulum |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Electrical Engineering |
| ID Code: | 59040 |
| Deposited By: | Haliza Zainal |
| Deposited On: | 04 Dec 2016 04:07 |
| Last Modified: | 01 Feb 2017 09:34 |
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