Abstract
Based on the sliding mode control theory, a decentralized controller design method is developed for a large scale system with a polytopic model. In terms of LMIs, we derive sufficient conditions for the existence of the decentralized controller guaranteeing a stable sliding motion. We also give an LMI-based control design algorithm. Finally, the proposed method is applied to decentralized stabilization of double-inverted pendulums. Simulation results show that our method gives not only the robust stability but perfect rejection of norm-bounded uncertainties.
Original language | English |
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Pages (from-to) | 1-4 |
Number of pages | 4 |
Journal | Journal of Institute of Control, Robotics and Systems |
Volume | 16 |
Issue number | 1 |
DOIs | |
State | Published - Jan 2010 |
Keywords
- Decentralized control
- Large scale system
- LMI (Linear Matrix Inequality)
- Polytopic model
- Sliding mode control
- Switching surface