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<p>This paper introduces a novel sliding mode control strategy that ensures robust pole placement within a specified vertical strip while achieving efficient disturbance rejection in uncertain linear systems. The proposed approach combines linear quadratic regulator (LQR) principles with sliding mode control theory, using a smooth, continuous-time scalar <i>sign</i> function to replace traditional discontinuous switching functions.</p><p>The key contributions are:</p><p>- Robust vertical strip pole placement through optimal design without solving traditional Riccati equations.</p><p>- Enhanced disturbance rejection via a sliding surface design that stabilizes system motion asymptotically.</p><p>- Comprehensive stability guarantees through systematic integration of variable structure control with complete state-space coverage.</p><p>- Novel continuous scalar <i>sign</i> function that eliminates chattering while maintaining robustness.</p><p>The sliding surface is constructed using stable eigenvectors (EV) and the innovative scalar <i>sign</i> function to guarantee robustness, while the controller gain ensures precise pole clustering within the desired region. Simulation results demonstrate the method’s effectiveness in achieving accurate and robust trajectory tracking, showing significant improvements over conventional approaches.</p>

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Design of a robust optimal sliding mode controller with pole placement and disturbance rejection based on scalar sign

  • 期刊论文

  • 发表日期：

    2025年6月4日

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  • Lotfi Chaouech,
  • Moêz Soltani,
  • Achraf Jabeur Telmoudi,
  • Abdelkader Chaari

摘要

This paper introduces a novel sliding mode control strategy that ensures robust pole placement within a specified vertical strip while achieving efficient disturbance rejection in uncertain linear systems. The proposed approach combines linear quadratic regulator (LQR) principles with sliding mode control theory, using a smooth, continuous-time scalar sign function to replace traditional discontinuous switching functions.

The key contributions are:

- Robust vertical strip pole placement through optimal design without solving traditional Riccati equations.

- Enhanced disturbance rejection via a sliding surface design that stabilizes system motion asymptotically.

- Comprehensive stability guarantees through systematic integration of variable structure control with complete state-space coverage.

- Novel continuous scalar sign function that eliminates chattering while maintaining robustness.

The sliding surface is constructed using stable eigenvectors (EV) and the innovative scalar sign function to guarantee robustness, while the controller gain ensures precise pole clustering within the desired region. Simulation results demonstrate the method’s effectiveness in achieving accurate and robust trajectory tracking, showing significant improvements over conventional approaches.