METHOD, ARTICLE OF MANUFACTURE, AND SYSTEM FOR CONFIGURING CONTROLLER IN SLIDING-MODE CONTROL SCHEME

摘要

Method, article of manufacture and system using minimum data to determine whether a sliding-mode control should be applied in a plant. First measure the plant in an open-loop control fashion, and using the measured data, describe a state equation of the plant by system identification and order determination methods. Then design a switching hyperplane for sliding-mode control. Next, calculate higher order statistics on the difference between an output of a linear model on the hyperplane and an output of the sliding-mode control model in the measured data; When any of the higher order moments is larger than a predetermined threshold, configure a controller as a sum of the linear control input term and the nonlinear control input term. If both higher-order moments are smaller than the threshold, then configure the controller using only a linear control input term.