Method, article of manufacture, and system for configuring controller in sliding-mode control scheme

An article of manufacture tangibly embodying computer readable non-transitory instructions which, when implemented, cause a computer to carry out the steps of a method comprising:

• obtaining a measured observation data sequence by an open-loop control measurement of a plant;
• describing a state space equation of the plant by a system identification technique based on the measured value, and designing a switching hyperplane for a sliding-mode control model;
• calculating a third-order statistic and a fourth-order statistic on a difference between an output of a linear model on the hyperplane and an output of the sliding-mode control model in the observation data sequence;
• calculating a nonlinear control input term based on a fourth-order moment if either of the third-order statistic and the fourth-order statistic is larger than a predetermined threshold, and configuring a controller by a sum of a control input term of the linear model on the hyperplane and the nonlinear control input term;
• and
• configuring a linear controller with a linear control input on the hyperplane if both the third-order statistics and the fourth-order statistics are smaller than the predetermined threshold.

A controller configuring system for configuring a controller for a plant by using a sliding-mode control scheme, the controller configuring system comprising:

• a memory:
• a processer communicatively coupled to the memory:
• and
• a feature selection module communicatively coupled to the memory and the processor, wherein the feature selection module is configured to perform the steps of a method comprising:
• obtaining a measured observation data sequence by an open-loop control measurement of the plant;
• describing a state space equation of the plant by a system identification technique based on the measured value, and designing a switching hyperplane for a sliding-mode control model;
• calculating a third-order statistic and a fourth-order statistic on a difference between an output of a linear model on the hyperplane and an output of the sliding-mode control model in the observation data sequence;
• calculating a nonlinear control input term based on a fourth-order moment if either of the third-order statistic and the fourth-order statistic is larger than a predetermined threshold, and configuring a controller by a sum of a control input term of the linear model on the hyperplane and the nonlinear control input term;
• and
• configuring a linear controller with a linear control input on the hyperplane in response to that both the third-order statistics and the fourth-order statistics are smaller than the predetermined threshold.