سال انتشار: ۱۳۸۳

محل انتشار: دوازدهیمن کنفرانس مهندسی برق ایران

تعداد صفحات: ۶

نویسنده(ها):

Alireza Esna Ashari – University of Tehran
Mohammad Javad Yazdanpanah – University of Tehran

چکیده:

In this paper, two robust optimal control methods based on sliding mode design are introduced and implemented using the well-known
unit vector approach. Time-varying sliding surfaces are implemented to solve linear optimal problems. The introduced sliding surfaces
produce optimal controllers with respect to quadratic cost function. The presented design procedure is much easier than solving an HJB
equation if one needs to achieve smaller costs than LQR controlled system (in which the controller designed for the linearized model and
implemented to the original nonlinear model). Domain of attraction of closed-loop system is also bigger than LQR controlled system. The
introduced methods are applied to an inverted pendulum system and the simulation results are presented and compared.