Novel conditioning technique for systems subjected to constraints

RICARDO J. MANTZ; HERNÁN DE BATTISTA; FABRICIO GARELLI; FERNANDO D. BIANCHI

Vilanova i la Geltrú, España

Congreso; 8th International Workshop on Variable Structure Systems (VSS 2004); 2004

UPC - IEEE - IFAC

A sliding mode reference conditioning for constrained linear systems is proposed which presents some distinctive features. In fact, contrarily to other control solutions, the sliding mode conditioning loop completely avoids saturation, so that the prescribed closed-loop behavior is never abandoned. As a consequence of this property as well as of the robustness features of sliding mode control, the closed loop dynamics of the conditioning circuit and of the main loop are completely independent one of each other. So, no further analysis is necessary to guarantee stability of the controlled system during sliding mode conditioning.