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master's thesis
Klizni režim upravljanja višeg reda
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:491011
Patrlj, Leo
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Patrlj, L. (2022). Klizni režim upravljanja višeg reda (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:491011

Patrlj, Leo. "Klizni režim upravljanja višeg reda." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:491011

Patrlj, Leo. "Klizni režim upravljanja višeg reda." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:491011

Patrlj, L. (2022). 'Klizni režim upravljanja višeg reda', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 17 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:491011

Patrlj L. Klizni režim upravljanja višeg reda [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 June 17] Available at: https://urn.nsk.hr/urn:nbn:hr:168:491011

L. Patrlj, "Klizni režim upravljanja višeg reda", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:491011

Metadata
TitleKlizni režim upravljanja višeg reda
Title (english)Higher order sliding mode control
AuthorLeo Patrlj
MentorMato Baotić (mentor)
Committee memberMato Baotić (član povjerenstva)
Committee memberVinko Lešić (član povjerenstva)
Committee memberBranimir Novoselnik (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Na početku rada je sažeto izrečena teorija upravljanja pomoću kliznih režima zajedno sa dokazima i izvodima kako bi se pokazalo zašto su u nekim slučajevima superiorniji u odnosu na klasične linearne regulatore. Pokazano je kako se uz pomoć kliznog režima prvog reda može upravljati nelinearnim sustavima uz postojanje modelske nesigurnosti i uz prisutstvo poremećaja. Glavni nedostatci kliznih režima prvog reda su ispravljeni pomoću korištenja kliznih režima drugog reda. Naposlijetku su obje vrste kliznih režima zajedno sa linearnim regulatorom uspoređeni na primjeru modela rotacijskog obrnutog njihala. Dobiveni odzivi pokazuju superiornost upravljanja kliznim režimima u odnosu na klasične linearne regulatore kod nelinearnih sustava s modelskom neodrđenosti i uz prisutstvo poremećaja.
Abstract (english)
At the beginning of the thesis the theory for sliding more control has been laid out together with proofs and derivations to demonstrate why sliding mode control is superior in some cases than conventional linear controllers. It is shown how nonlinear systems with model uncertainty and in the presence of a disturbance signal can be controlled using sliding mode control. The main downsides of first order sliding mode controllers are corrected using second order sliding mode controllers while keeping the output intact. To conclude, both versions of sliding mode controllers have been compared alongside linear controllers on the Furuta pendulum. The gathered outputs suggest how sliding mode control is superior to linear controllers when implemented on nonlinear systems with model uncertainty and in the presence of a disturbance.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:491011
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-13 15:48:10