5 Multirate Output Feedback Sliding Mode for Special Classes of Systems
The tracking problem of systems is one that has come under a lot of investigation. The initial studies were on the transfer function models of the system, based on internal model control , which used the inverse dynamics of the system to design a tracking controller. The problem with this simple logic arouse in cases wherein the system was nonminimum phase, i.e., had unstable zeros. In such a case, the inverse dynamics were unstable, which generated a closed loop system that may be stable , but was not internally stable . Further study on the topic brought into light numerous techniques that handled the tracking problem, for both linear [5, 43] and nonlinear systems [16, 17, 32]. The research on unstable zero dynamics was also extended to discrete-system representations [26, 59].
KeywordsLyapunov Function Control Input Slide Mode Control Output Feedback Sliding Mode
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