A predictive and sliding mode cascade controller

Kenneth R. Muske, Hashem Ashrafiuon, Mehdi Nikkhah

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Scopus citations


This paper presents a cascade control structure to determine the open-loop optimal linear surface parameters for the sliding mode control of nonlinear mechanical systems. A discrete-time, nonlinear model predictive controller is used to update the time-invariant parameters of the sliding mode control surfaces in order to achieve some performance objective such as minimum energy or minimum time. The determination of these surface parameters is subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as input saturation. We prove the nominal stability of this cascade control structure and demonstrate its performance using the inverted pendulum on a cart as an illustrative example.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
StatePublished - Dec 1 2007
Externally publishedYes
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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