Algoritmo super-twisting multivariável para sistemas com matriz de entrada incerta sem exigência de dimetria

Abstract

In this dissertation, a higher order sliding mode controller is proposed for sys- tems with uncertain input matrix, without symmetric requirements. The solution is based on the multivariable Super-Twisting algorithm, and mitigate the necessity of the rather restrictive hypotheses of symmetry or the total knowledge of the input matrix of the system previously reported in the literature. In this context, the Lya- punov Stability Theory is used to prove that the proposed controller is able to assure global properties of stability and convergence in finite time. Simulation results illus- trate the efectiveness of the proposed technique considering practical applications. Futhermore, the eficiency of the proposed controller is compared with another strat- egy recently proposed in the literature, which is also based on the Super-Twisting algorithm but considers a symmetric input matrix.