Model predictive output integral discrete-time sliding-mode control

Abstract

This chapter presents a control scheme termed model predictive output integral discrete-time sliding-mode control (MPOIDSMC) to achieve a precise positioning for a piezoelectric actuation stage. The controller features an integral type of sliding function based on the output error along with a sliding-mode state observer. The model predictive control methodology and the integral item are introduced to eliminate the chattering phenomenon and to achieve a low tracking error. The feasibility and effectiveness of the MPOIDSMC scheme is verified by conducting several experimental studies on a piezoelectric nanopositioning stage.