Second order SM regulator for nonlinear non minimum phase systems

Abstract

This work presents an approach to solve the output regulation problem for a class of nonlinear non minimum phase systems. Based on decomposition block control technique and sliding mode (SM) control, we propose a sliding manifold which is designed such that the zero dynamics become asymptotically stable on this manifold. To enforce the SM motion on the designed manifold a supertwisting SM algorithm is used. The effectiveness of the proposed methodology is verified via the design of a torque tracking controller for an induction motor. © 2011 IFAC.