Predictive Multivariable Sliding Mode Control of Buffered Networked Systems

Even though networked control systems offer many benefits, the presence of a communication network in the control loop leads to some unfavorable effects such as variable time delays. This paper proposes a new optimal predictive sliding mode control strategy based on switching reaching law for multivariable networked systems affected by disturbances. The effectiveness of the proposed technique is examined in simulations, where in addition, a comparison to existing switching and nonswitching reaching laws is made. Furthermore, the sensitivity of the control algorithms with respect to a first order actuator dynamics is considered. It is shown that the predictive switching reaching law reduces high frequency oscillations in the reaching phase characteristic for the switching reaching law. Moreover, the proposed approach can be applied even if the parasitic actuator dynamics are slow, in comparison to the switching and nonswitching reaching laws.