Sliding Mode Observer Design for Nonlinear Systems Subject to Mismatched Uncertainty

Abstract

This thesis is based on a sliding mode observer (SMO) design for nonlinear systems subjected to mismatched uncertainty Most real systems are in general nonlinear systems but the general observer design is more complicated with the systems Therefore this thesis uses a SMO design Being different from general observers SMO are easily designed under nonlinear systems Besides system model structure for the integration of mathematical problems into real practices this thesis also takes system uncertainty into consideration In fact under the nonlinear systems with uncertainties the sliding mode control law fully exerts its advantages With these advantageous characteristics the sliding mode theory has been paid much attention in the field of robust control for decades The proposed excellent characteristics based on the sliding mode theory are due to its ideal mode which occurs out of a series of discontinuous control laws The characteristics of this SMO includes its simple design criteria an easy implementation in nonlinear systems and the robustness to matched uncertainties and it also guarantees the stability of closed loop systems For high order nonlinear systems it is easier to grasp the system convergence characteristics through control system equivalent conversion technique In the observer design process the mathematical method of multi-objective linear matrix inequality (LMI) is also used in this paper to reduce the impact of mismatched uncertainty on the system and the gain matrix and maintain the robustness of the system

Date of Award	2021
Original language	English
Supervisor	Chao-Chung Peng (Supervisor)