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Other titles published in this series: Digital Controller implementation Modelling and Control of mini-Flying and fragility Machines Robert s.h. Istepanian and james F Pedro castillo. rogelio lozano and Whidborne(eds Alejandro dzul Optimisation of Industrial processes Motion contro at Supervisory level Tristan perez Doris Saez, Aldo cipriano and andrzej w Ords Hard Disk Drive Servo Systems(2nd Ed.) Ben m. chen Tong h. lee. Kemao pen g Robust Control of Diesel ship propulsion and Venkatakrishnan venkataramanan Nikolaos xiros Measurement, Control. and Hydraulic servo-systems Communication Using IEEE 1588 Mohieddine mali and andreas kroll John c. eidson Model-based Fault diagnosis in Dynamic Piezoelectric Transducers for vibration Systems using ldentification techniques Control and damping Silvio simani. Cesare Fantuzzi and ron j S O. Reza moheimani and andrew j Patton Fleming Strategies for Feedback linearisation Manufacturing Systems Control Design Freddy garces, Victor M. Becerra Stjepan Bogdan, Frank L. Lewis, Zdenko Chandrasekhar Kambhampati and Kevin Kovacic and jose mireles jr Warwick Windup in contro Robust autonomous guidance alberto isidori lorenzo marconi Peter Hippe and andrea serrani Nonlinear H2/ Hoo Constrained Feedback Control Dynamic Modelling of gas turbines Gennady g. Kulikov and Haydn a Murad Abu-Khalaf, Jie Huang and frank l. lewis Thompson(Eds) Control of fuel cell Power Systems Practical Grey-box Process Identification Torsten bohlin Jay t Pukrushpan, Anna g. Stefanopoulou and Huei Peng Control of Traffic Systems in Buildings Fuzzy Logic, Identification and predictive Sandor markon, Hajime Kita, Hiroshi Kise and Thomas bartz-Beielstein Control Jairo espinosa Joos vandewalle Wind Turbine Control systems andⅤ incent wertz Fernando d. bianchi hernan de battista Optimal real-time Control of sewer and ricardo j mantz Networks Advanced Fuzzy logic Technologies Magdalene marinaki and markos in Industrial applications Papageorgiou Ying bai, Hanqi zhuang and dali wang Process Modelling for Control (Eds Benoit codons Practical PId Control Computational intelligence in Time Series AntonioⅤ aioli Forecasting Ajoy K. Palit and Dobrivoje popovi (continued after Index) Halim alwi. Christopher edwards. Chee Pin Tan Fault detection and fault-Tolerant Control Using Sliding Modes Springer Dr halim alwi Dr Chee Pin Tan ment of Engineering School of engineering y or Leicester Monash University Sunway Campus University road Jalan Lagoon Selatan, Bandar Sunway LEI 7RH Leicester 46150 Selangor UK Malaysia hal 8@leac uk tan chee pin @eng. monash.edu. my Prof. Christopher Edwards Department of Engineering University of Leicester University Road LEI RH Leicester K chris edwards @le ac uk ISSN1430-9491 ISBN978-0-85729-649-8 e-ISBN978-0-85729-6504 DOI10.10071978-0-85729650-4 Springer london dordrecht heidelberg new York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2011930667 o Springer-Verlag London limited 2011 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as per- mitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced stored or transmitted, in any form or by any means, with the prior permission in writing of the publish ers, or in the case of reprographic reproduction in accordance with the terms of licenses issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers The use of registered names, trademarks, etc, in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made Cover design: VTeX UAB, Lithuania Printed on acid-free paper SpringerispartofSpringerScience+businessMedia(www.springer.com) Advances in Industrial Control Series editors Professor Michael J. Grimble, Professor of Industrial Systems and director Professor Michael A. Johnson, Professor(Emeritus)of Control Systems and Deputy Director Industrial control centre Department of Electronic and Electrical Engineerin University of strathclyde Graham hills building 50 George Street Glasgow Gl IQE UK Series Advisory Board Professor ef. camacho Escuela superior de ingenieros Universidad de sevilla Camino de los descubrimientos s/n 41092 Sevilla Spa n Professor S. Engell Lehrstuhl fur anlagensteuerungstechnik Fachbereich Chemietechnik Universitat dortmund 44221 Dortmund German Professor g. goodwin Department of Electrical and Computer Engineerin The University of Newcastle Callaghan nsw 2308 australia Professor t. harris Department of Chemical Engineering Queen’ S University Kingston. ontario KL 3n6 anada Professor t.h. Lee Department of Electrical and Computer Engineerin National University of Singapore 4 Engineering Drive 3 Singapore 117576 Singapore Professor(Emeritus)O P. Malik Department of Electrical and Computer Engineering U algar 2500, University Drive, NW Calgary, alberta T2N 1N4 Canada Professor K-E Man Electronic Engineering Department City University of Hong Kong Tat Chee avenue Kowloon Hong Kong Professor g. olsson Department of Industrial Electrical Engineering and automation Lund Institute of Technology Box 1l8 221 00 Lund weden AR Department of Mechanical Engineerin Pennsylvania state University 0329 Reber Building University Park PA16802 USA Professor D.E. Seborg Chemical Engineering University of California Santa Barbara 3335 Engineering II Santa barbara CA93106 USA Doctor K.K. tan Department of Electrical and Computer Engineerin National University of singapore 4 Engineering Drive 3 Singapore 117576 Singapore Professor l. yamamoto Department of Mechanical Systems and Environmental Engineering Faculty of Environmental Engineering The University of Kitakyushu 1-1, Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka, 808-0135 Japan We dedicate this book to Halim's wife Nor Mazuita Noor azizuddin Chris' parents: with love and gratitude, Chee Pin's wife Priscilla, and children Joseph Joy-anne Series editors foreword The series Advances in Industrial Control aims to report and encourage technol- ogy transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications new philosophies., new challenges. Much of this development work resides in in- dustrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended ex position of such new work in all aspects of industrial control for wider and rapid dissemination In this Advances in Industrial Control monograph the authors, Halim alwi Christopher edwards and Chee Pin Tan, remark that"In the last five decades, control system methodologies have evolved. into sophisticated and advanced electronic devices for controlling high performance and highly unstable systems.. Some of these control methodologies. have found success in industry with a wide range of applications. Other control methodologies have not so readily been accepted by in- dustry. One such technique that has not been so readily accepted is"sliding mode control"and it is this method that is at the heart of this new monograph. In fact looking back over the Advances in Industrial Control monograph series(a series of over a hundred volumes from the series inception in 1991), we were surprised to find that this is the very first monograph on the sliding mode control method in the series i In many ways, this monograph demonstrates the true theoretical and applica tions depth to which the sliding mode control paradigm has been developed today It has three very strong themes: control design, theoretical extensions and indus trial applications. For sliding mode control, Chap. 3 carefully builds up the readers understanding of the design method. This is presented in structured steps using a number of simulation examples, which can easily be replicated and experienced by the reader. The phenomenon of"chattering" is exhibited and how easy it is to over come is demonstrated. Of the extensions, there are many; however, there are two themes here. One theme is the development of technical tools like a sliding mode observer and its properties( Chaps. 4 and 5). The second theme is the use of sliding Series editors foreword mode control in fault-tolerant control (FtC) and fault detection and isolation(FDi) There is an excellent overview of the FTC and FDI issues in Chap 2 and then a number of Chaps. 6, 7,8, 9, and 10 follow up these issues The third strong theme in the monograph is the application of the authors schemes to computer simulations, test rigs and ultimately, an advanced fight sim ulator. The primary application area pursued in the monograph is the control of large passenger and cargo aircraft under extreme safety-critical conditions. These aircraft control problems supply a theme that is threaded through the monograph as it progresses. Most impressive are the two chapters at the end of the monograph de scribing a sliding mode control allocation scheme( Chap 1 1)developed for testing on a high-fidelity 6 dof research flight simulator, SIMONA(SImulation MOtion NAvigation) based at Delft University of Technology, The Netherlands, and a sub sequent set of simulated recreations( Chap 12)of the accident that occurred to the ELAL Flight 1862 known as the Bijlmereer Incident in which a cargo aircraft suf- fered the catastrophic loss of two engines from the same wing along with additional wing damage. The objective of the simulations was to demonstrate the potential of the new sliding mode control algorithm to assist in this type of situation. These simulation tests included trials using experienced pilots to obtain an independent assessment of the capabilities of the algorithm. This sort of research demonstrates industrial control engineering at its very best Other examples and demonstrations in the monograph include vtol aircraft computer simulations, a laboratory-scale crane system and a d. c. motor system; all examples that give the monograph a real connection to problems of industrial control engineering As a first monograph on the methods of sliding mode control in the Advances in Industrial Control series, this is a very substantial and impressive contribution. Its mixture of the theoretical and the practical should appeal to a wide range of readers from both the academic and industrial control engineering communities The editors are very pleased to have this monograph enter the series as it well demonstrates and offers the real prospects of advances in industrial control using a potentially undervalued control technique that of the sliding mode method Industrial Control centre M.J. Grimble Glasgow M.A. Johnson Scotland. uK 2010

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