Tuning and Feasibility Analysis of Classical First-Order MIMO Non-Linear Sliding Mode Control Design for Industrial Applications
Alessandro Palmieri,
Renato Procopio,
Andrea Bonfiglio,
Massimo Brignone,
Marco Invernizzi,
Andrea Morini,
Boban Veselic’
Affiliations
Alessandro Palmieri
Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture, University of Genoa, Via Opera Pia 11a, I-16145 Genoa, Italy
Renato Procopio
Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture, University of Genoa, Via Opera Pia 11a, I-16145 Genoa, Italy
Andrea Bonfiglio
Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture, University of Genoa, Via Opera Pia 11a, I-16145 Genoa, Italy
Massimo Brignone
Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture, University of Genoa, Via Opera Pia 11a, I-16145 Genoa, Italy
Marco Invernizzi
Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture, University of Genoa, Via Opera Pia 11a, I-16145 Genoa, Italy
Andrea Morini
Department of Electrical, Electronic, Telecommunications Engineering and Naval Architecture, University of Genoa, Via Opera Pia 11a, I-16145 Genoa, Italy
Boban Veselic’
Faculty of electronic engineering, University of Niš, Univerzitetski trg 2, 18106 Niš, Serbia
Model-based control techniques have been gaining more and more interest these days. These complex control systems are mostly based on theories, such as feedback linearization, model predictive control, adaptive and robust control. In this paper the latter approach is investigated, in particular, sliding mode (SM) control is analyzed. While several works on the description and application of SM control on single-input single-output systems can easily be found, its application on multi-input multi-output systems is not examined in depth at the same level. Hence, this work aims at formalizing some theoretical complements about the necessary conditions for the feasibility of the SM control for multi-input-multi-output systems. Furthermore, in order to obtain the desired performance from the control system, a method for parameter tuning is proposed in the particular case in which the relative degree of the controlled channels is equal to one. Finally, a simple control problem example is shown with the aim of stressing the benefits derived from the application of the theoretical complements described here.
