Prof. Dr. Ayman A.

El-Badawy
Nonlinear and Adaptive Control
Winter 2017

German University in Cairo

Faculty of Engineering and Materials Science
Mechatronics Engineering Department

MCTR 910: Nonlinear and Adaptive Control

Quiz (3)

Due date: Tuesday (12/12/2017)

1st Partner

ID No.

2nd Partner

ID No.

Note:
Quizzes not submitted in this form will NOT be accepted.
Cheating will not be tolerated and it's your responsibility to
ensure the genuineness of your work.
Quizzes should be submitted as HARD COPY only.
The simulations part will constitute 50 % of the quizs grade.

1
 Prof. Dr. Ayman A. El-Badawy
Nonlinear and Adaptive Control
Winter 2017

Problem Statement:
a) For the following system,

1 = 12 13 + 2

2 = 22 12 + () + 2

Where () is unknown disturbance on the system.

Requirements:
1) Design a sliding mode controller for the feedback system to globally stabilize the
system in the presence of uncertainties.
2) Using MATLAB/Simulink, implement the sliding mode controller for the system
3) Show using simulations, the main disadvantage of the sliding mode controller. (Hint:
show the control effort plot)
4) Propose a solution to this problem and compare the results of this modified controller
and the traditional sliding mode controller design in (3).
Provide screenshots of the simulation environment.
Provide a comparison between the responses of both controllers for different
initial conditions.

Remarks:
Show all steps in details and you may use Mathematica for mathematical
manipulation.
Show the closed loop responses for several initial conditions.
Choose the disturbance () to be a sinusoid of amplitude one.