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Analysis and implementation of discrete-time sliding mode control

Olivier Huber 1 
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : This work is dedicated to the discrete-time version of Sliding Mode Control, a well-known technique in the field of Automatic Control. The main contribution of this research effort is the use of an implicit discretization instead of an explicit one. The main contributions in the three domains of Automatic Control are as follows: analysis of the implicitly discretized sliding mode controllers (many properties of the continuous-time version are preserved, or have very similar counterparts). Simulations were run using a new Control toolbox in Siconos, a platform dedicated to the simulation of non-smmooth dynamical system. Finally, experiments confirm the superiority of the implicit discrete-time sliding mode controllers.
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https://hal.inria.fr/tel-01194430
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Submitted on : Monday, September 7, 2015 - 8:55:40 AM
Last modification on : Friday, March 25, 2022 - 9:44:21 AM
Long-term archiving on: : Tuesday, December 8, 2015 - 10:25:53 AM

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Olivier Huber. Analysis and implementation of discrete-time sliding mode control. Systems and Control [cs.SY]. Université Grenoble Alpes, 2015. English. ⟨tel-01194430⟩

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