Robust control tutorial by Purdue SMART Lab: Sliding Mode Control (SMC) with MATLAB/Simulink example implementation.
The tutorial instructions are available in the wiki page of this repository: https://github.com/SMARTlab-Purdue/robust-control-tutorial/wiki
The tutorial slides are also available in this repository: https://github.com/SMARTlab-Purdue/robust-control-tutorial/blob/master/robustControl_nonlinearSystems_tmina.pdf
In control theory, robust control is an approach to controller design that explicitly deals with uncertainty. Robust control methods are designed to function properly provided that uncertain parameters or disturbances are found within some (typically compact) set. Robust methods aim to achieve robust performance and/or stability in the presence of bounded modelling errors.
The material includes an introduction to Sliding Mode Control as a simple approach to robust control - Sliding surface and controller design formulation for a nonlinear system described by an n^{th} order differential equation.
- Motivation behind robust control implementation and a summary of the controller design process is presented in the wiki section of this repository.
- Refer to 'robustControl_nonlinearSystems_tmina.pdf' for a detailed theoretical overview of the Sliding Mode Controller design process. SIMULINK implementations following the design process of example systems are presented in the .mdl files.
Fundamental background of using MATLAB and Simulink will be required to fully understand the implementation example.
This material is prepared by Tamzidul Mina (tmina@purdue.edu). We acknowledge the following sources that were used in its preparation.
[1] Slotine, Jean-Jacques E., and Weiping Li. Applied nonlinear control. Vol. 199. No. 1. Englewood Cliffs, NJ: Prentice hall, 1991.