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LQR Technique based Second Order Sliding Mode Control for Linear Uncertain Systems

by Shital D. Mulje, R.M. Nagarale
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 137 - Number 7
Year of Publication: 2016
Authors: Shital D. Mulje, R.M. Nagarale
10.5120/ijca2016908815

Shital D. Mulje, R.M. Nagarale . LQR Technique based Second Order Sliding Mode Control for Linear Uncertain Systems. International Journal of Computer Applications. 137, 7 ( March 2016), 23-29. DOI=10.5120/ijca2016908815

@article{ 10.5120/ijca2016908815,
author = { Shital D. Mulje, R.M. Nagarale },
title = { LQR Technique based Second Order Sliding Mode Control for Linear Uncertain Systems },
journal = { International Journal of Computer Applications },
issue_date = { March 2016 },
volume = { 137 },
number = { 7 },
month = { March },
year = { 2016 },
issn = { 0975-8887 },
pages = { 23-29 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume137/number7/24288-2016908815/ },
doi = { 10.5120/ijca2016908815 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T23:37:45.478043+05:30
%A Shital D. Mulje
%A R.M. Nagarale
%T LQR Technique based Second Order Sliding Mode Control for Linear Uncertain Systems
%J International Journal of Computer Applications
%@ 0975-8887
%V 137
%N 7
%P 23-29
%D 2016
%I Foundation of Computer Science (FCS), NY, USA
Abstract

In this paper optimal second order sliding mode controller for uncertain systems by using integral sliding surface is proposed. The optimal controller is designed based on linear quadratic regulator (LQR) method for nominal model of the system. In optimal control method, the LQR is combined with sliding mode control to obtain equivalent control and switching control. The sliding mode controller is designed using integral sliding surface to obtain the value of switching control and to equivalent control values are obtained using LQR technique. It is observed that LQR and integral sliding mode control method are more efficient compare to other conventional techniques. Stabilization of inverted pendulum system is done using the sliding mode control approach. The system of inverted pendulum is used in state space approach. The main advantages of this method is that disturbance rejection, insensitivity to parameter variations and implementation issues are addressed easily using proposed controller stabilization of inverted system. The simulation result conform an advantage of the designed optimal sliding mode control approach in terms of output responses and stabilization of the system.

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Index Terms

Computer Science
Information Sciences

Keywords

linear uncertain systems optimal control linear quadratic regulator integral sliding surface non-singular terminal sliding surface second order sliding mode control.

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