Goran Golo

Robust discrete-time chattering free sliding mode control

A new control algorithm based on discrete-time variable structure systems theory is proposed. The basic feature of this algorithm is that trajectories reach the sliding manifold in finite time, without chattering. Apart from stability, the robustness of the algorithm with respect to parameter uncertainties, as well as external disturbances is considered. It is demonstrated that the robustness is improved by decreasing the sampling period. The theory is illustrated on a DC servo-position system.

Hamiltonian discretization of boundary control systems

A fundamental problem in the simulation and control of complex physical systems containing distributed-parameter components concerns finite-dimensional approximation. Numerical methods for partial differential equations (PDEs) usually assume the boundary conditions to be given, while more often than not the interaction of the distributed-parameter components with the other components takes place precisely via the boundary. On the other hand, finite-dimensional approximation methods for infinite-dimensional input-output systems (e.g., in semi-group format) are not easily relatable to numerical techniques for solving PDEs, and are mainly confined to linear PDEs. In this paper we take a new view on this problem by proposing a method for spatial discretization of boundary control systems based on a particular type of mixed finite elements, resulting in a finite-dimensional input-output system. The approach is based on formulating the distributed-parameter component as an infinite-dimensional port-Hamiltonian system, and exploiting the geometric structure of this representation for the choice of appropriate mixed finite elements. The spatially discretized system is again a port-Hamiltonian system, which can be treated as an approximating lumped-parameter physical system of the same type. In the current paper this program is carried out for the case of an ideal transmission line described by the telegraphers equations, and for the two-dimensional wave equation.

Hamiltonian formulation of planar beams

This paper deals with the port-Hamiltonian formulation of planar beams. It is shown how this formulation can be related to the linear beams models: the Timoshenko beam model and the rod model.

Tools for analysis of Dirac Structures on Banach Spaces

Power-conserving and Dirac structures are known as an approach to mathematical modeling of physical engineering systems. In this paper connections between Dirac structures and well known tools from standard functional analysis are presented. The analysis can be seen as a possible starting framework towards the study of compositional properties of Dirac structures.

Discretization of control law for a class of variable structure control systems

A new method for the discretization of a class of continuous-time variable structure control systems, based on the linear complementarity theory, is proposed. The proposed method consists two steps. In the first step, the motion projected on the sliding manifold (the fast dynamics) is discretized by means of backward Euler time-step method. In the second step, the sampled and hold control law is determined such that the trajectories of the discrete-time closed loop system projected on the sliding manifold coincide with the trajectories of discretized fast dynamics. The discrete-time closed-loop system exhibits discrete-time sliding motion. It means that the trajectories of the discrete-time closed loop system reach the sliding manifold in a finite number of steps and stay on it after that. Also, it is proved that control law is a continuous function. Therefore, the closed loop system is chattering free. The theoretically obtained results are verified on the example of the non-holonomic integrator.

Synchronization of two-phase harmonic oscillator using sliding mode vector control

This paper proposes a synchronization method of two-phase harmonic oscillators, based on amplitude and phase control, employing variable structure control approach. Synchronization between referent and controlled oscillator is achieved using variable structure controller, which organizes sliding mode along the intersection of two sliding surfaces. Mathematical analysis and experimental results are presented.