In this paper constant reference output tracking is achieved using second order sliding mode (SOSM) control. To achieve tracking a new sliding surface is proposed and to ensure sliding motion super-twisting control (STC) is employed. The proposed sliding surface is more general, and it can be used for constant reference tracking in both minimum phase and non-minimum phase systems. The proposed method is validated on the unstable non-minimum phase inverted pendulum system and also the results are compared with the first order sliding mode control (SMC) in simulation and experimentally both.
In this paper, a method to design the reduced order sliding mode control is proposed for the robust output tracking of arbitrary signal for non-minimum phase systems. The main contributions in this paper include design of the reduced order switching function that ensures the asymptotic tracking of an arbitrary reference signal during sliding motion, design of the reduced order sliding mode controller that enforces the sliding motion in finite time and computation of bounds on stable and virtually stable zero dynamics that is required for the output tracking. To show the effectiveness of the proposed design method, results of implementation on the experimental setup of inverted pendulum system are also presented here.
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