Sliding-Mode-Based Output-Feedback Control of Multivariable Systems via Youla Parameterization

Richard Seeber; Stefan Koch; Martin Horn

doi:10.1109/TAC.2023.3318204

Sliding-Mode-Based Output-Feedback Control of Multivariable Systems via Youla Parameterization

Richard Seeber^*, Stefan Koch, Martin Horn

^*Corresponding author for this work

Institute of Automation and Control (4430)

Research output: Contribution to journal › Article › peer-review

Abstract

A nonlinear multivariable control scheme for linear time-invariant plants is presented that is capable of rejecting unmatched disturbances that are sufficiently often differentiable. It is based on the Youla parameterization in state space. Robust exact sliding-mode differentiators are employed for the realization of improper Youla parameters. Implementation complexity is optimized by minimizing the total number of required differentiator states. The resulting closed loop is shown to be input-to-state stable with respect to arbitrary bounded disturbances. Simulations and experimental results from a four-tank system corroborate the results.

Original language	English
Pages (from-to)	2023-2030
Number of pages	8
Journal	IEEE Transactions on Automatic Control
Volume	69
Issue number	3
Early online date	22 Sept 2023
DOIs	https://doi.org/10.1109/TAC.2023.3318204
Publication status	Published - Mar 2024

Keywords

Sliding mode control
Linear systems
Differentiation
Robust control
Laplace equations
Transfer functions
Observers
Regulation
MIMO communication
sliding mode control
unmatched disturbance
linear systems
robust control

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications

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title = "Sliding-Mode-Based Output-Feedback Control of Multivariable Systems via Youla Parameterization",

abstract = "A nonlinear multivariable control scheme for linear time-invariant plants is presented that is capable of rejecting unmatched disturbances that are sufficiently often differentiable. It is based on the Youla parameterization in state space. Robust exact sliding-mode differentiators are employed for the realization of improper Youla parameters. Implementation complexity is optimized by minimizing the total number of required differentiator states. The resulting closed loop is shown to be input-to-state stable with respect to arbitrary bounded disturbances. Simulations and experimental results from a four-tank system corroborate the results.",

keywords = "Sliding mode control, Linear systems, Differentiation, Robust control, Laplace equations, Transfer functions, Observers, Regulation, MIMO communication, sliding mode control, unmatched disturbance, linear systems, robust control",

author = "Richard Seeber and Stefan Koch and Martin Horn",

year = "2024",

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doi = "10.1109/TAC.2023.3318204",

language = "English",

volume = "69",

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T1 - Sliding-Mode-Based Output-Feedback Control of Multivariable Systems via Youla Parameterization

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AU - Koch, Stefan

AU - Horn, Martin

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N2 - A nonlinear multivariable control scheme for linear time-invariant plants is presented that is capable of rejecting unmatched disturbances that are sufficiently often differentiable. It is based on the Youla parameterization in state space. Robust exact sliding-mode differentiators are employed for the realization of improper Youla parameters. Implementation complexity is optimized by minimizing the total number of required differentiator states. The resulting closed loop is shown to be input-to-state stable with respect to arbitrary bounded disturbances. Simulations and experimental results from a four-tank system corroborate the results.

AB - A nonlinear multivariable control scheme for linear time-invariant plants is presented that is capable of rejecting unmatched disturbances that are sufficiently often differentiable. It is based on the Youla parameterization in state space. Robust exact sliding-mode differentiators are employed for the realization of improper Youla parameters. Implementation complexity is optimized by minimizing the total number of required differentiator states. The resulting closed loop is shown to be input-to-state stable with respect to arbitrary bounded disturbances. Simulations and experimental results from a four-tank system corroborate the results.

KW - Sliding mode control

KW - Linear systems

KW - Differentiation

KW - Robust control

KW - Laplace equations

KW - Transfer functions

KW - Observers

KW - Regulation

KW - MIMO communication

KW - sliding mode control

KW - unmatched disturbance

KW - linear systems

KW - robust control

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DO - 10.1109/TAC.2023.3318204

M3 - Article

SN - 0018-9286

VL - 69

SP - 2023

EP - 2030

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 3

ER -

Sliding-Mode-Based Output-Feedback Control of Multivariable Systems via Youla Parameterization

Abstract

Keywords

ASJC Scopus subject areas

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