TY - GEN
T1 - Static & dynamic sliding mode control of ball and beam system
AU - Khan, Abdul Manan
AU - Bhatti, Amir Iqbal
AU - Sami-Ud-Din,
AU - Khan, Qudrat
PY - 2012
Y1 - 2012
N2 - This paper presents an application of static and dynamic sliding mode control of ball and beam system. Conventional PID controllers use incomplete simplified models and are mostly designed for linear systems. Although, some PID controllers are designed for nonlinear system but they are using simplified incomplete model which do not cater for matched disturbances. Our proposed control laws using static & dynamic sliding mode control use complete nonlinear system without model approximation. Moreover, static sliding mode control (SSMC) caters for matched disturbance rejection as well. There is an inherent issue of chattering with static sliding mode control (SSMC). However, dynamics sliding mode control (DSMC) counter it well. DSMC is not only equally effective when it comes to matched disturbance rejection but also removes chattering as well. In the end detailed comparative analysis is presented and experimental results confirm the superiority of DSMC.
AB - This paper presents an application of static and dynamic sliding mode control of ball and beam system. Conventional PID controllers use incomplete simplified models and are mostly designed for linear systems. Although, some PID controllers are designed for nonlinear system but they are using simplified incomplete model which do not cater for matched disturbances. Our proposed control laws using static & dynamic sliding mode control use complete nonlinear system without model approximation. Moreover, static sliding mode control (SSMC) caters for matched disturbance rejection as well. There is an inherent issue of chattering with static sliding mode control (SSMC). However, dynamics sliding mode control (DSMC) counter it well. DSMC is not only equally effective when it comes to matched disturbance rejection but also removes chattering as well. In the end detailed comparative analysis is presented and experimental results confirm the superiority of DSMC.
KW - dynamic sliding mode control (DSMC)
KW - static sliding mode control (SSMC)
UR - https://www.scopus.com/pages/publications/84860856460
U2 - 10.1109/IBCAST.2012.6177522
DO - 10.1109/IBCAST.2012.6177522
M3 - Conference contribution
AN - SCOPUS:84860856460
SN - 9781457719295
T3 - Proceedings of 2012 9th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2012
SP - 32
EP - 36
BT - Proceedings of 2012 9th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2012
ER -