In the present work, implementation of continuous-time high frequency periodic controller is done for stabilization of non-minimum phase system having both right half plane (RHP) pole and zero. This work considers nonminimum phase cart-inverted pendulum system as a test bench. The robustness property of the periodic controller is compared with that of a linear quadratic regulator (LQR) and slid...

This paper aims to study the steady-state response of the practical sliding mode controlled system (SMC). The nonlinearity of the switching term is approximately characterized by using its equivalent describing function. The parasitic dynamics is modeled as a first order lag transfer function, and the possible transport delay is particularly considered. Subsequently, the frequency domain method...

A class of switching system is studied in this paper. A Fractional order controller for Sliding Mode Control (SMC) is proposed to control such systems. An augmented fractional order system is considered in order to design the controller. Therefore, more information about the system is available and the controller will have more degrees of freedom than the integer one. The results can either be ...

A Sliding Mode Controller (SMC) is adopted in this work with a Proportional Integral Derivative (PID) to employ instead of Power System Stabilizer (PSS). The major proposal is that the effective property of PID and high characteristics of SMC are combined to eliminate the chattering effect of SMC in order to generate best control signal to the excitation system. The robust design of SMC-PID has...

We present our ongoing work on the development of a new quadrotor aerial vehicle which has a tilt-wing mechanism. The vehicle is capable of take-off/landing in vertical flight mode (VTOL) and flying over long distances in horizontal flight mode. Full dynamic model of the vehicle is derived using Newton-Euler formulation. Linear and nonlinear controllers for the stabilization of attitude of the ...

In this paper, a neural networks (NN) based adaptive sliding mode controller (SMC) is introduced. The selection of SMC feedback gains is normally based on one operating point and thus the performance of the controller away from the design operating point is, of necessity, a compromise. The Adaptive SMC is proposed to overcome the limitations imposed on the effectiveness of the SMC under differe...

in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

Torsional vibrations of drill-strings are actively controlled using a non-switching sliding mode strategy. The controller is intended also to reject the effect interaction between drill-bit and rock formation which induces non-linear stick-slip friction torque while tracking desirable constant angular velocity drill-string. In order demonstrate merits proposed control algorithm, it integrated w...

A guidance law, based on supervisory recurrent fuzzy neural network control (SRFNNC), is proposed for the autonomous underwater vehicle (AUV) guidance systems. This SRFNNC system is comprised of a recurrent fuzzy neural network (RFNN) controller and a supervisory controller. The RFNN controller is used to mimic an ideal controller and the supervisory controller is designed to compensate for the...

This paper proposes a new sliding surface for controlling Semi-Bridgeless Boost Converter (SBBC) which simultaneously performs Power Factor Correction (PFC) and DC bus regulation. The proposed is composed of three terms: First, normalized voltage error term controls the rejects disturbances. In this case, normalization was performed increasing system robustness during start-up large Second, an ...