Robust Non-overshooting Tracking and Model Following Controller using Multi-variable Super-twisting Algorithm

Abstract

This paper presents the design of robust tracking and model following (RTMF) controller based on multivariable super-twisting algorithm (MSTA) for a class of uncertain multi-input multi-output (MIMO) linear-time invariant (LTI) systems. The desired behavior of the uncertain plant is achieved by defining a model with ideal response characteristics, and a controller based on MSTA is designed so that the asymptotic convergence of error between the output of the plant and model can be guaranteed. To ensure the good transient response while tracking without overshoot, a model has been developed based on non-overshooting control technique. The robust super-twisting sliding mode controller helps to achieve the desired system performance by following this model response faithfully, rejecting the disturbance with a continuous control. Finally, this strategy has been validated through numerical simulation considering a MIMO quadruple tank process (QTP). The simulated results are presented to illustrate the effectiveness of the proposed RTMF controller.