Abstract
A new concept of chattering characterization for the systems driven by finite-time convergent controllers (FTCC) in terms of practical stability margins is presented. Unmodeled dynamics of order two or more incite chattering in FTCC driven systems. In order to analyze the FTCC robustness to unmodeled dynamics the novel paradigm of Tolerance Limits (TL) is introduced to characterize the acceptable emerging chattering. Following this paradigm a new notions of Practical Stability Phase Margin (PSPM) and Practical Stability Gain Margin (PSGM) as a measure of robustness to cascade unmodeled dynamics is introduced. Specifically, PSPM and PSGM are defined as the values that have to be added to the phase and gain of dynamically perturbed system driven by FTCC so that the characteristics of the emerging chattering reach TL. For practical calculation of PSPM and PSGM, the Harmonic Balance (HB) method is employed and a numerical algorithm to compute Describing Functions (DFs) for families of FTCC (specifically, for nested, and quasi-continuous Higher Order Sliding Mode (HOSM) controllers) was proposed. A database of adequate DFs was developed. A numerical algorithm for solving HB equation using the Newton–Raphson method was suggested to obtain predicted chattering parameters. Finally, computational algorithms that identify PSPM and PSGM for the systems driven by FTCC were proposed. The algorithm of a cascade linear compensator design that corrected the FTCC, making the values of PSPM and PSGM to fit the prescribed quantities, was presented. In order to design the flight-certified FTCC for attitude for the F-16 jet fighter, the proposed technique was employed in a case study. The prescribed robustness to cascade unmodeled dynamics was achieved.
L. Fridman gratefully acknowledges the financial support from by Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnologica (UNAM) 113216, and DGAPA PASPA Program.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Utkin, V., Guldner, J., Shi, J.: Sliding Modes in Electromechanical Systems. Taylor and Francis, London (1999)
Shtessel, Y.B., Edwards, C., Fridman, L., Levant, A.: Sliding Mode Control and Observation. Springer, New York (2014)
Boiko, I.: Discontinuous Control Systems: Frequency-Domain Analysis and Design. Birkhuser, Boston (2009)
Oza, H.B., Orlov, Y.V., Spurgeon, S.K.: Continuous uniform finite time stabilization of planar controllable systems. SIAM J. Control Optim. 53(3), 1154–1181 (2015)
Bhat, S.P., Bernstein, D.S.: Geometric homogeneity with applications to finite-time stability. Math. Control Signals Syst. 17, 101–127 (2005)
Goddard.: Rules for the Design, Development, Verification, and Operation of Flight Systems: GSFC-STD-1000E (2009)
Boiko, I.M.: On relative degree, chattering and fractal nature of parasitic dynamics in sliding mode control. J. Franklin. Inst. 351(4), 1939–1952 (2014)
Utkin, V.I.: Sliding modes in control and optimization. Springer, Berlin (1992)
Shtessel, Y.B., Lee, Y.-J.: New approach to chattering analysis in systems with sliding modes. In: Proceedings of the 35th IEEE Conference on Decision and Control, pp. 4014–4019, Dec (1996)
Lee, H., Utkin, V.: Chattering suppression methods in sliding mode control systems. Annu. Rev. Control 31, 179–188 (2007)
Fridman, L.: An averaging approach to chattering. IEEE Trans. Autom. Control 46(8), 1260–1265 (2001)
Fridman, L.: Singularly perturbed analysis of chattering in relay control systems. IEEE Trans. Autom. Control 47(12), 2079–2084 (2002)
Boiko, I.: Analysis of sliding mode in frequency domain. Int. J. Control 78(13), 969–981 (2005)
Boiko, I., Fridman, L.: Analysis of chattering in continuous sliding-mode controllers. IEEE Trans. Autom. Control 50(9), 1442–1446 (2005)
Levant, A.: Chattering analysis. IEEE Trans. Autom. Control 55(6), 1380–1389 (2010)
Levant, A., Fridman, L.: Accuracy of homogeneous sliding modes in the presence of fast actuators. IEEE Trans. Autom. Control 55(3), 810–814 (2010)
Pisano, A., Usai, E.: Sliding mode control: a survey with applications in math. Math. Comput. Simul. 81(5), 954–979 (2011)
Boiko, I., Fridman, L., Pisano, A., Usai, E.: Analysis of chattering in systems with second-order sliding-modes. IEEE Trans. Autom. Control 52(11), 2085–2102 (2007)
Boiko, L., Fridman, L., Pisano, A., Usai, E.: Performance analysis of second-order sliding-mode control systems with fast actuators. IEEE Trans. Autom. Control 52(6), 1053–1059 (2007)
Tsypkin, YaZ: Relay Control Systems. Cambridge University Press, England (1984)
Gelb, A., Vander Velde, W.E.: Multiple-input describing functions and nonlinear system design. Mc Graw-Hill, New York (1968)
Atherton, D.P.: Nonlinear Control Engineering-Describing Function Analysis and Designing. Van Nostrand Company Limited, UK (1975)
Levant, A.: Sliding order and sliding accuracy in sliding mode control. Int. J. Control 58, 1247–1263 (1993)
Levant, A.: Robust exact differentiation via sliding mode technique. Automatica 34(3), 379–384 (1998)
Boiko, I., Fridman, L., Castellanos, M.I.: Analysis of second-order sliding-mode algorithms in the frequency domain. IEEE Trans. Autom. Control 49(6), 946–950 (2004)
Levant, A.: High-order sliding modes: differentiation and output-feedback control. Int. J. Control 76(9–10), 924–941 (2003)
Levant, A.: Quasi-continuous high-order sliding-mode controllers. IEEE Trans. Autom. Control 50(11), 1812–1816 (2005)
Schwartz, C., Gran, R.: Describing function analysis using matlab and simulink. IEEE Control Syst. Mag. 21(4), 19–26 (2001)
Rosloniec, S.: Fundamental Numerical Methods for Electrical Engineering. Springer, Berlin (2008)
Rosales, A., Shtessel, Y., Fridman, L.: Analysis and design of systems driven by finite-time convergent controllers: practical stability approach. Int. J. Control (2017). doi:10.1080/00207179.2016.1255354
Rosales, A., Shtessel, Y., Fridman, L., Panathula, C.B.: Chattering analysis of HOSM controlled systems: frequency domain approach. IEEE Trans. Autom. Control (2017). doi:10.1109/TAC.2016.2619559
Dorf, R.C., Bishop, R.H.: Modern Control Systems, 12th edn. Prentice Hall, USA (2011)
Shtessel, Y., Buffington, S., Banda, S.: Multiple time scale flight control using reconfigurable sliding modes. J. Guid. Control Dyn. 22(6), 873–883 (1999)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this chapter
Cite this chapter
Shtessel, Y., Fridman, L., Rosales, A., Panathula, C.B. (2018). Practical Stability Phase and Gain Margins Concept. In: Li, S., Yu, X., Fridman, L., Man, Z., Wang, X. (eds) Advances in Variable Structure Systems and Sliding Mode Control—Theory and Applications. Studies in Systems, Decision and Control, vol 115. Springer, Cham. https://doi.org/10.1007/978-3-319-62896-7_4
Download citation
DOI: https://doi.org/10.1007/978-3-319-62896-7_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-62895-0
Online ISBN: 978-3-319-62896-7
eBook Packages: EngineeringEngineering (R0)