Abstract:

Nonlinear sliding mode predictive control is designed for the feedback linearizable system. Based on the minimum of the quadratic index of a predictive sliding mode, which contains the tracking error, its higher order derivation, and the integral of the tracking error, the sliding mode control rule is derived. According to the relative degrees of outputs, the slidng modes are designed. Index contains the cost function of control, which can be adjusted and may prevent the control effect from saturation. The robustness of this kind of control system is proposed. A robust control rule is proposed. The effective of this approach is demonstrated by the simulation for a two order system. The results are acceptable.

Key words: predictive control, sliding mode, robustness