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Robust Output Feedback Sliding Mode State and Disturbance Observer-based Controller Design for Nonlinear Systems

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Abstract

This study uses an output feedback disturbance observer-based proportional derivative (PD) controller with variable damping ratios for a class of single-input, single-output nonlinear systems in the presence of unknown disturbances. The proposed sliding mode state and disturbance observer, in which the switching term of the output estimation error is employed to counteract the effect of external disturbance, ensures that the estimation error is finally bounded in a neighborhood and reconstructs simultaneously the system state and unknown disturbance. Herein, the characteristics of the proposed observer are presented in the frequency domain, followed by the corresponding analysis in the time domain. A nonlinear PD controller with a variable damping ratio designed using the estimation state and disturbances should achieve low overshoot and short settling time. Finally, the simulation results demonstrate the validity of the proposed method.

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Authors and Affiliations

  1. Department of Electrical Engineering, Oriental Institute of Technology, 58, Section 2, Sihchuan Road, Ban-Chiao, New Taipei City, 220, Taiwan

    Jeang-Lin Chang & Tsui-Chou Wu

Authors
  1. Jeang-Lin Chang
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  2. Tsui-Chou Wu
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Corresponding author

Correspondence to Jeang-Lin Chang.

Additional information

Recommended by Associate Editor Guangdeng Zong under the direction of Editor Hamid Reza Karimi.

This work was supported by the Ministry of Science and Technology Taiwan, R.O.C. under Grant no. MOST 109-2221-E-161-001.

Jeang-Lin Chang received his B.S. and M.S. degrees in control engineering, a Ph.D. degree in electrical and control engineering from National Chiao Tung University, Taiwan, R.O.C., in 1992, 1994, 1999, respectively. He was with the Mechanical Research Laboratory, Industrial Technology Research Institute, Taiwan, during 1997–1999. In 1999, he joined the Department of Electrical Engineering, Oriental Institute of Technology, as an Assistant Professor. He is currently a Professor. His research interests include sliding mode control, motion control, and signal processing.

Tsui-Chou Wu was born in Taiwan, R.O.C, in 1964. He graduated from the Department of Electronic Engineering in Chung Yuan Christian University in 1986. From 1990–1992, he studied at the Institute of Communication Engineering in National Chiao Tung University, and obtained his M.Sc. degree in 1992. He received a Ph.D. degree at the Institute of Biomedical Engineering in National Yang-Ming University. He is currently an Associate Professor. His research interests focus mainly on nonlinear dynamic system analysis and biomedical signal processing.

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Chang, JL., Wu, TC. Robust Output Feedback Sliding Mode State and Disturbance Observer-based Controller Design for Nonlinear Systems. Int. J. Control Autom. Syst. 19, 1550–1559 (2021). https://doi.org/10.1007/s12555-020-0243-x

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  • DOI: https://doi.org/10.1007/s12555-020-0243-x

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