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A second order sliding mode controller with polygonal constraints

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons83886

Dinuzzo,  F
Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Dinuzzo, F. (2009). A second order sliding mode controller with polygonal constraints. In 48th IEEE Conference on Decision and Control (CDC 2009) (pp. 6715-6719). Piscataway, NJ, USA: IEEE.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-C1D8-A
Abstract
It is presented a discontinuous controller that ensure uniform finite-time zero stabilization of the output for uncertain SISO systems of relative degree two, while keeping the auxiliary system state within a prescribed convex polygon. The proposed method extends applicability of second order sliding modes controllers to the case of uncertain dynamical systems with constraints.