The invariance and robustness properties of variable structure control are lost in digital implementation. This paper presents three discrete-time variable structure control (DVSC) methods that can recover those properties for linear uncertain systems. The first method uses a disturbance compensator formulated in the variable structure framework and a decoupling law to separate the disturbance estimation dynamics from the closed loop dynamics. In the second approach, a recursive switching function is developed, which allows recovering the lost invariance and robustness properties, without using the disturbance compensator. The first method can result in slow transient dynamics, and the second can result in a large overshoot. In the third method, a new recursive switching function is developed and combined with the decoupled disturbance compensator method to recover the lost invariance and robustness properties. The three DVSC methods are applied to control the motion of an xy-stage of a CNC milling machine. In this experiment, the third method provided the best result. [S0022-0434(00)02204-8]
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e-mail: dicho@asri.snu.ac.kr
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December 2000
Technical Papers
Robust Discrete-Time Variable Structure Control Methods
Jung-ho Kim,
Jung-ho Kim
School of Electrical Engineering and Computer Science, Seoul National University, San 56-1, Shinlim-dong, Kwanak-ku, Seoul 151-742, Korea
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Seung-Hyun Oh,
Seung-Hyun Oh
School of Electrical Engineering and Computer Science, Seoul National University, San 56-1, Shinlim-dong, Kwanak-ku, Seoul 151-742, Korea
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Dong-il “Dan” Cho,
e-mail: dicho@asri.snu.ac.kr
Dong-il “Dan” Cho
School of Electrical Engineering and Computer Science, Seoul National University, San 56-1, Shinlim-dong, Kwanak-ku, Seoul 151-742, Korea
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J. Karl Hedrick
J. Karl Hedrick
Department of Mechanical Engineering, University of California, Berkeley, CA 94720
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Jung-ho Kim
School of Electrical Engineering and Computer Science, Seoul National University, San 56-1, Shinlim-dong, Kwanak-ku, Seoul 151-742, Korea
Seung-Hyun Oh
School of Electrical Engineering and Computer Science, Seoul National University, San 56-1, Shinlim-dong, Kwanak-ku, Seoul 151-742, Korea
Dong-il “Dan” Cho
School of Electrical Engineering and Computer Science, Seoul National University, San 56-1, Shinlim-dong, Kwanak-ku, Seoul 151-742, Korea
e-mail: dicho@asri.snu.ac.kr
J. Karl Hedrick
Department of Mechanical Engineering, University of California, Berkeley, CA 94720
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division February 4, 2000. Associate Technical Editors: E. Misawa and V. Utkin.
J. Dyn. Sys., Meas., Control. Dec 2000, 122(4): 766-775 (10 pages)
Published Online: February 4, 2000
Article history
Received:
February 4, 2000
Citation
Kim , J., Oh , S., Cho, D. “., and Hedrick, J. K. (February 4, 2000). "Robust Discrete-Time Variable Structure Control Methods ." ASME. J. Dyn. Sys., Meas., Control. December 2000; 122(4): 766–775. https://doi.org/10.1115/1.1320448
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