Full and Partial State Discontinuous Integral Control. Issue 13 (2018)

• Record Type: Journal Article
• Authors: Mercado-Uribe, Angel; Moreno, Jaime A.
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 13(2018)
• Page Start: 573
• Page End: 578
• Publication Date: 2018
• Subjects: Lyapunov functions -- Discontinuous integral control -- Higher Order Sliding modes -- Output Tracking; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.07.341
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Homogeneous Discontinuous Integral Controllers are very effective to track or regulate a reference signal and to reject perturbation signals, which are Lipschitz continuous. This is in contrast to Continuous Integral Controllers, which are able to track and reject only constant signals. In this paper we extend some recent results, attained for systems with relative degree two, to relative degree three. We develop a Lyapunov based analysis and design method, that is able to be extended to an arbitrary relative degree, and that allows a differentiate design for Integral controllers depending on the full or a partial state.