of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
Conclusions
Objectives
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Figure
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Duffings Oscillator
History and Applications
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
M sen t
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
m
mg
Duffings Oscillator
The pendulum and Taylors series
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
ml 2
Introduction
Chaotic
systems
Some topics
on nonlinear
control
d 2
+ mgl sin = M sin t
dt 2
w
w
3
+ mgl
ml
2
dt
6
2d
= M sin t
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Advantages:
Achieve a resonable description of its experimental
behavior;
Duffings Ocillator
General case: damping
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
+ a1 + a2 + a3 3 = a4 sin(t)
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
wherein:
a1
a2
a3
a4
is
is
is
is
the
the
the
the
damping coefficient;
linear stiffness;
cubic stiffness;
amplitude of sinusoidal forcing;
Bifurcations
General view
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
xi+1 = axi (1 xi )
Some topics
on nonlinear
control
1,0
SMC+AC
0,9
0,8
0,7
0,6
xi
Stabilization
of UPOs
0,5
Parametric
dependence
0,4
Chaos control
0,2
0,3
0,1
0,0
1,0
Conclusions
1,5
2,0
2,5
a
3,0
3,5
4,0
Bifurcations
Duffings Oscillator
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Bifurcations
Duffings Oscillator
Stabilization
of UPOs using
SMC+AC
0,56 a3 0,74;
Geraldo
Rebouas
2,5
Introduction
2,0
Chaotic
systems
1,5
1,0
Some topics
on nonlinear
control
Stabilization
of UPOs
Parametric
dependence
Chaos control
x1
SMC+AC
0,5
0,0
-0,5
-1,0
-1,5
Conclusions
-2,0
-2,5
0,56
0,58
0,60
0,62
0,64
0,66
a3
0,68
0,70
0,72
0,74
Bifurcations
Duffings Oscillator
Stabilization
of UPOs using
SMC+AC
0,9 a3 1,1;
Geraldo
Rebouas
2,5
Introduction
2,0
Chaotic
systems
1,5
1,0
Some topics
on nonlinear
control
Stabilization
of UPOs
Parametric
dependence
Chaos control
x1
SMC+AC
0,5
0,0
-0,5
-1,0
-1,5
Conclusions
-2,0
-2,5
0,90
0,95
1,00
a3
1,05
1,10
Poincars section
General view
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Proposed by Henri
Poincar (18541912),
french mathematical
physicist;
Reduce the systems
dimension;
Fiz one state variable, e.g.
time, and analyze the
behavior of the other
variables;
1,0
0,8
0,6
0,4
Chaos control
1,0
x (t)
0,2
0,0
-0,2
Conclusions
0,5
-0,4
-0,6
0,0
-0,8
-1,0
0,0
-0,5
-1,0
5,0
10,0
t
15,0
20,0
Poincars section
Chaotic systems
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
x2
Some topics
on nonlinear
control
6,0
6,0
4,0
4,0
2,0
2,0
0,0
x2
Chaotic
systems
0,0
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
-2,0
-2,0
-4,0
-4,0
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
4,0
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
Conclusions
Figure : Orbit
4,0
Poincars section
Chaotic systems
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
3,0
Introduction
2,5
Chaotic
systems
2,0
Some topics
on nonlinear
control
1,5
Stabilization
of UPOs
Parametric
dependence
1,0
x2
SMC+AC
0,5
0,0
-0,5
Chaos control
High periodic UPOs
Conclusions
-1,0
-1,5
-2,0
-1,5
-1,0
-0,5
0,0
0,5
x1
1,0
1,5
2,0
2,5
Conclusions
Conclusions
Introduction
x2
Geraldo
Rebouas
Chaotic
systems
5,0
5,0
4,0
4,0
3,0
3,0
2,0
2,0
1,0
1,0
0,0
x2
Stabilization
of UPOs using
SMC+AC
-1,0
-2,0
-2,0
-3,0
-3,0
-4,0
-4,0
-5,0
-2,5 -2,0 -1,5 -1,0 -0,5
Some topics
on nonlinear
control
0,0
-1,0
0,0
0,5
1,0
1,5
2,0
2,5
-5,0
-3,0 -2,5 -2,0 -1,5 -1,0 -0,5
3,0
x1
0,0
0,5
1,0
1,5
2,0
2,5
x1
SMC+AC
Stabilization
of UPOs
Parametric
dependence
6,0
6,0
4,0
4,0
2,0
2,0
Conclusions
0,0
x2
x2
Chaos control
0,0
-2,0
-2,0
-4,0
-4,0
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
4,0
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
6,0
4,0
4,0
2,0
2,0
0,0
x2
Some topics
on nonlinear
control
x2
Chaotic
systems
0,0
SMC+AC
-2,0
-2,0
Stabilization
of UPOs
-4,0
-4,0
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
4,0
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
4,0
Conclusions
e2
ng
di
sli
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
approaching
e(t = 0)
e1
s=0
Tracking problem
Stabilization problem;
sgn(s)
Chaos control
Conclusions
x i = xi+1 ,
x n = f (t, x) + b(t, x)u(t, x)
y = x1
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Estimated gain: be =
bm bM ;
Introduction
Chaotic
systems
Sliding surface:
Some topics
on nonlinear
control
s=
d
+
dt
!n1
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
> 0;
Tracking error: e1 = x1 x1,d ;
e1 = 0
Introduction
Chaotic
systems
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Sliding phase;
Sliding condition:
ng
Stabilization
of UPOs
di
SMC+AC
e2
Approaching phase;
sli
Some topics
on nonlinear
control
approaching
e(t = 0)
1d 2
s |s|
2 dt
> 0;
e1
s=0
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
ts
|s(t = 0)|
Introduction
Chaotic
systems
ue =
1
(fe + x n,d qT e)
be
Some topics
on nonlinear
control
sgn(s)
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
u = ue K sgn(s)
Conclusions
Estimated model:
Introduction
x 1 = x2
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Parametric
dependence
Chaos control
Conclusions
5,0
2,0
1,0
3,0
2,0
0,0
1,0
0,0
e2
x2,d
Geraldo
Rebouas
Error
s=0
4,0
-1,0
-1,0
-2,0
-2,0
Introduction
-3,0
-3,0
-4,0
Chaotic
systems
-5,0
-3,0
-2,0
-1,0
0,0
1,0
-4,0
-1,8
2,0
-1,6
-1,4
-1,2
-1,0
x1,d
Some topics
on nonlinear
control
(a)
SMC+AC
-4,0
10,0
-6,0
Chaos control
-30,0
-40,0
Conclusions
-50,0
0,0
-0,2
0,0
0,2
-8,0
u
-20,0
-0,4
-10,0
-10,0
Parametric
dependence
-0,6
(b)
20,0
0,0
Stabilization
of UPOs
-0,8
e1
-12,0
-14,0
-16,0
-18,0
5,0
10,0
t
15,0
20,0
-20,0
0,8
(c)
0,9
1,0
1,1
1,2
t
(d)
Figure
1,3
1,4
1,5
1,6
Conclusions
Chattering:
High frequency oscillations on the controller output;
Undesirable in mechanical systems;
Can excite unmodelled dynamics;
Occurs due to the discontinuity of sgn(s);
sat(s)
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
1
1
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
1
1
sat(s) =
sgn(s)
, if |s| 1
, if |s| < 1
e2
s=
11111111
00000000
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
/
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
/11111111
00000000
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
s =
e1
s=0
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
e2
s=
11111111
00000000
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
/
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
00000000
/11111111
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
s =
e1
s=0
Chaotic
systems
Controller output:
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
0,119|x13 |) sat
s
0,1
10,0
4,0
Introduction
Chaotic
systems
5,0
3,0
0,0
2,0
-5,0
1,0
-10,0
0,0
-15,0
x2,d
Geraldo
Rebouas
5,0
-1,0
-20,0
-2,0
-25,0
-3,0
-30,0
-4,0
-5,0
-35,0
-3,0
-2,0
-1,0
0,0
1,0
-40,0
0,0
2,0
(a)
20,0
0,04
1,0
0,03
Stabilization
of UPOs
0,02
e2
e2
0,0
-1,0
0,01
0,00
-2,0
-0,01
Error
s=0
Boundary
-3,0
-0,03
0
02
01
0,
0,
01
00
(d)
0,
e1
0,
0,2
0
00
0,0
00
-0,2
0,
-0,4
,
-0
(c)
-0,6
-0,8
e1
10
,0
-1,0
-0
-1,2
20
-1,4
01
-1,6
-0,02
,
-0
-4,0
-1,8
,0
-0
Conclusions
15,0
0,05
SMC+AC
Chaos control
10,0
t
(b)
2,0
Parametric
dependence
5,0
x1,d
Some topics
on nonlinear
control
Conclusions
We can mention:
No chattering;
Residual error inside the boundary region;
Considerable amount of controller output;
Conclusions
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Geraldo
Rebouas
5,0
Introduction
4,0
Chaotic
systems
3,0
2,0
Some topics
on nonlinear
control
Stabilization
of UPOs
Parametric
dependence
Chaos control
x2
SMC+AC
1,0
0,0
-1,0
-2,0
-3,0
Conclusions
UPO
Generic
-4,0
-5,0
-3,5 -3,0 -2,5 -2,0 -1,5 -1,0 -0,5 0,0
x1
0,5
1,0
1,5
2,0
2,5
0,05
UPO
Generic
0,04
1,0
0,03
0,02
0,5
0,01
e2
e2
Geraldo
Rebouas
1,5
0,00
0,0
-0,01
Error
s=0
Boundary
-0,03
0
02
01
0,
0,
(b)
0,10
5,0
0,0
0,05
-5,0
-10,0
-15,0
0,00
Conclusions
05
0
01
(a)
Stabilization
of UPOs
Chaos control
e1
10,0
SMC+AC
Parametric
dependence
0,
Some topics
on nonlinear
control
0
00
0,2
e1
0
0,
0,0
0,
-0,2
10
,0
-0,4
05
,0
-0,6
-0
-0,8
-0
-1,0
-0,02
20
-1,0
-1,2
15
,0
-0
-0,5
Chaotic
systems
,0
-0
Introduction
-20,0
-25,0
-0,05
-30,0
UPO
Generic
-35,0
-40,0
0,0
2,0
4,0
6,0
8,0
-0,10
0,0
(c)
2,0
4,0
6,0
8,0
(d)
Figure
Conclusions
We can mention:
Obtained a smaller error with a smaller control output;
Orbit
generic
UPO
MSE 103
33,08553
7,328417
ku(t)k2
102,8201
7,763410
Adaptive Compensation
General view
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Adaptive Compensation
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
0 < bm b(t, x) bM
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
1
(fe de + x n,d qT e)
be
Adaptive Compensation
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Adaptive Compensation
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
de (t) = w0 +
N
X
n=1
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
wi = sgn(si )
Adaptive Compensation
Applied to Duffings Oscillator
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
s
si
wi = sat
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Adaptive Compensation
Applied to Duffings Oscillator
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Adaptive law:
si
wi = 3 sat
0,1
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Control output:
u = x 2,d + 0,05x2 0,2x1 + 1,19x13 6,6 sin(t)+
2e2 + |de | (8 + 0,119|x13 | + |de |) sat
Chaos control
High periodic UPOs
Conclusions
s
0,1
Adaptive Compensation
Applied to Duffings Oscillator
2,0
0,020
1,5
0,015
1,0
0,010
0,5
0,005
e1
Geraldo
Rebouas
e2
Stabilization
of UPOs using
SMC+AC
0,0
0,000
Introduction
Error
s=0
Boundary
-0,5
Chaotic
systems
-1,0
-1,2
SMC+AC
SMC-sat
-1,0
-0,8
-0,6
-0,4
-0,2
0,0
-0,005
-0,010
0,0
0,2
5,0
e1
Some topics
on nonlinear
control
(a)
SMC+AC
SMC-sat
20,0
2,0
1,5
4,0
de
1,0
2,0
0,5
0,0
0,0
Chaos control
-2,0
-0,5
-4,0
-1,0
Conclusions
15,0
2,5
6,0
Parametric
dependence
20,0
3,0
8,0
Stabilization
of UPOs
15,0
(b)
10,0
SMC+AC
10,0
t
-6,0
0,0
5,0
10,0
t
15,0
20,0
-1,5
0,0
(c)
5,0
10,0
t
(d)
Figure
Adaptive Compensation
Applied to Duffings Oscillator
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
We can mention:
Small amplitude of the control output;
Smaller error;
Robustness of both controller and adaptive compensation;
Parametric dependence
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
=
=
=
=
=
Parametric dependence
Time response
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
4,0
Introduction
Chaotic
systems
SMC+AC
Stabilization
of UPOs
2,0
x1 (t)
Some topics
on nonlinear
control
1%
0%
+1%
3,0
1,0
0,0
-1,0
Parametric
dependence
Chaos control
-2,0
Conclusions
-3,0
20,0
25,0
30,0
35,0
40,0
t
Figure : 1%
45,0
50,0
55,0
60,0
Parametric dependence
Time response
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
4,0
Introduction
3,0
Chaotic
systems
2,0
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
1,0
x1 (t)
Some topics
on nonlinear
control
5%
0%
+5%
0,0
-1,0
-2,0
-3,0
Conclusions
-4,0
0,0
5,0
10,0
15,0
20,0
t
Figure : 5%
25,0
30,0
35,0
40,0
Parametric dependence
Time response
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
3,0
Introduction
Chaotic
systems
SMC+AC
Stabilization
of UPOs
1,0
x1 (t)
Some topics
on nonlinear
control
0%
+10%
2,0
0,0
-1,0
-2,0
Parametric
dependence
Chaos control
-3,0
Conclusions
-4,0
0,0
5,0
10,0
15,0
20,0
t
25,0
Figure : +10%
30,0
35,0
40,0
Parametric dependence
Poincars section
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Stabilization
of UPOs
3,0
2,5
2,5
2,0
2,0
1,5
1,5
1,0
1,0
x2
SMC+AC
3,0
0,5
0,5
Parametric
dependence
0,0
0,0
-0,5
-0,5
Chaos control
-1,0
-1,5
-2,0
Conclusions
x2
Some topics
on nonlinear
control
-1,0
-1,5
-1,0
-0,5
0,0
0,5
1,0
1,5
2,0
x1
2,5
-1,5
-2,0
II
-1,5
-1,0
-0,5
0,0
0,5
1,0
x1
Figure : a3 5%
1,5
2,0
2,5
Parametric dependence
Poincars section
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Stabilization
of UPOs
3,0
2,5
2,5
2,0
2,0
1,5
1,5
1,0
1,0
x2
SMC+AC
3,0
0,5
0,5
Parametric
dependence
0,0
0,0
-0,5
-0,5
Chaos control
-1,0
-1,5
-2,0
Conclusions
x2
Some topics
on nonlinear
control
-1,0
-1,5
-1,0
-0,5
0,0
0,5
1,0
1,5
2,0
x1
2,5
-1,5
-2,0
II
-1,5
-1,0
-0,5
0,0
0,5
1,0
x1
Figure : a3 1%
1,5
2,0
2,5
Parametric dependence
Poincars section
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Stabilization
of UPOs
3,0
2,5
2,5
2,0
2,0
1,5
1,5
1,0
1,0
x2
SMC+AC
3,0
0,5
0,5
Parametric
dependence
0,0
0,0
-0,5
-0,5
Chaos control
-1,0
-1,5
-2,0
Conclusions
x2
Some topics
on nonlinear
control
-1,0
-1,5
-1,0
-0,5
0,0
0,5
1,0
1,5
2,0
x1
2,5
-1,5
-2,0
II
-1,5
-1,0
-0,5
0,0
0,5
1,0
x1
Figure : a3 + 1%
1,5
2,0
2,5
Parametric dependence
Poincars section
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Stabilization
of UPOs
3,0
2,5
2,5
2,0
2,0
1,5
1,5
1,0
1,0
x2
SMC+AC
3,0
0,5
0,5
Parametric
dependence
0,0
0,0
-0,5
-0,5
Chaos control
-1,0
-1,5
-2,0
Conclusions
x2
Some topics
on nonlinear
control
-1,0
-1,5
-1,0
-0,5
0,0
0,5
1,0
1,5
2,0
x1
2,5
-1,5
-2,0
II
-1,5
-1,0
-0,5
0,0
0,5
1,0
x1
Figure : a3 + 5%
1,5
2,0
2,5
Parametric dependence
Poincars section
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Stabilization
of UPOs
3,0
2,5
2,5
2,0
2,0
1,5
1,5
1,0
1,0
x2
SMC+AC
3,0
0,5
0,5
Parametric
dependence
0,0
0,0
-0,5
-0,5
Chaos control
-1,0
-1,5
-2,0
Conclusions
x2
Some topics
on nonlinear
control
-1,0
-1,5
-1,0
-0,5
0,0
0,5
1,0
1,5
2,0
x1
2,5
-1,5
-2,0
II
-1,5
-1,0
-0,5
0,0
0,5
1,0
1,5
x1
Figure : a3 + 10%
2,0
2,5
Parametric dependence
Unstable Periodic Orbits Period 1
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
5,0
4,0
3,0
SMC+AC
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
3,0
2,0
1,0
1,0
x2
0,0
0,0
-1,0
-1,0
-2,0
-2,0
-3,0
-3,0
-4,0
-5,0
-2,5 -2,0 -1,5 -1,0 -0,5
1%
0%
+1%
4,0
2,0
x2
Stabilization
of UPOs
5,0
1%
0%
+1%
-4,0
0,0
0,5
x1
1,0
1,5
2,0
2,5
3,0
-5,0
-3,0 -2,5 -2,0 -1,5 -1,0 -0,5
0,0
x1
0,5
1,0
1,5
2,0
2,5
Parametric dependence
Unstable Periodic Orbits Period 1
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
5,0
4,0
3,0
SMC+AC
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
3,0
2,0
1,0
1,0
x2
0,0
0,0
-1,0
-1,0
-2,0
-2,0
-3,0
-3,0
-4,0
-5,0
-3,0
5%
0%
+5%
4,0
2,0
x2
Stabilization
of UPOs
5,0
5%
0%
+5%
-4,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
-5,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
Parametric dependence
Unstable Periodic Orbits Period 1
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
5,0
4,0
SMC+AC
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
3,0
2,0
2,0
1,0
x2
0,0
0,0
-1,0
-1,0
-2,0
-2,0
-3,0
-3,0
-4,0
-5,0
-2,5 -2,0 -1,5 -1,0 -0,5
0%
+10%
4,0
1,0
x2
Stabilization
of UPOs
5,0
0%
+10%
3,0
-4,0
0,0
0,5
x1
1,0
1,5
2,0
2,5
3,0
-5,0
-3,0 -2,5 -2,0 -1,5 -1,0 -0,5
0,0
x1
0,5
1,0
1,5
2,0
2,5
Parametric dependence
Unstable Periodic Orbits Period 3
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
6,0
SMC+AC
-2,0
Chaos control
-4,0
Conclusions
2,0
-6,0
-4,0
x2
0,0
Parametric
dependence
5%
0%
+5%
4,0
2,0
x2
Stabilization
of UPOs
6,0
1%
0%
+1%
4,0
0,0
-2,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
4,0
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
4,0
Parametric dependence
Unstable Periodic Orbits Period 5
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
6,0
SMC+AC
-2,0
Chaos control
-4,0
Conclusions
2,0
-6,0
-4,0
x2
0,0
Parametric
dependence
0%
+10%
4,0
2,0
x2
Stabilization
of UPOs
6,0
5%
0%
+5%
4,0
0,0
-2,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
4,0
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
4,0
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
0,119|x13 |) sat
MSE = 0,8729509106 ;
ku(t)k2 = 0,2010480;
s
0,1
5,0
4,0
3,0
2,0
1,0
0,0
x2,d
Geraldo
Rebouas
-1,0
-2,0
Introduction
-3,0
-4,0
Chaotic
systems
-5,0
-3,0 -2,5 -2,0 -1,5 -1,0 -0,5 0,0
x1,d
Some topics
on nonlinear
control
Parametric
dependence
Chaos control
High periodic UPOs
1,5
2,0
2,5
5,0
10,0
t
Erro
s=0
15
00
10
50
00
0,
45
00
0,
40
00
0,
35
00
0,
30
00
0,
25
00
20
00
0,
0,
0,
05
00
00
00
0,
0,
00
,0
00
0,
15,0
20,0
15,0
20,0
(b)
e1
e2
0,001
0,000
-0,001
-0,002
-0,003
-0,004
-0,005
-0,006
-0,007
-0,008
-0,009
-0,010
-0
Conclusions
1,0
(a)
SMC+AC
Stabilization
of UPOs
0,5
0,05
0,00
-0,05
-0,10
-0,15
-0,20
-0,25
-0,30
-0,35
-0,40
-0,45
-0,50
0,0
0,0050
0,0045
0,0040
0,0035
0,0030
0,0025
0,0020
0,0015
0,0010
0,0005
0,0000
-0,0005
0,0
e1
(c)
5,0
10,0
t
(d)
Figure
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
2e2 de (8 +
si
wi = 3 sat
0,1
0,119|x13 |
s
+ |de |) sat
0,1
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Controller
SMC
SMC+AC
MSE 106
0,8729509
0,8443530
ku(t)k2
0,2010480
0,7887732
kde (t)k2
0,4463901
0,002
0,000
-0,002
-0,004
e1
e2
Geraldo
Rebouas
-0,006
-0,008
Introduction
SMC+AC
SMC
-0,010
-0,012
50
00
0,
5
04
40
00
0
0,
35
00
0,
30
00
5
0,
0,
2
00
0,
15
2
00
10
00
0,
05
00
00
00
,0
00
00
0,
0,
0,
0,
-0
Chaotic
systems
0,0050
0,0045
0,0040
0,0035
0,0030
0,0025
0,0020
0,0015
0,0010
0,0005
0,0000
-0,0005
0,0
5,0
e1
Some topics
on nonlinear
control
(a)
1,2
1,0
0,8
-0,5
u
de
0,6
0,4
-1,0
0,2
Chaos control
High periodic UPOs
Conclusions
20,0
0,0
Stabilization
of UPOs
Parametric
dependence
15,0
(b)
0,5
SMC+AC
10,0
t
-1,5
0,0
-2,0
0,0
5,0
10,0
t
15,0
20,0
-0,2
0,0
(c)
5,0
10,0
t
(d)
Figure
15,0
20,0
0,015
0,008
0,010
0,006
10%
0%
+10%
0,004
0,005
0,002
0,000
-0,005
-0,004
10%
+10%
-0,006
6
00
8
00
0,
4
00
0,
02
2
00
0,
0,
0
00
0,
04
,0
-0
06
,0
-0
08
,0
,0
-0,015
-0
-0,010
Chaotic
systems
-0,002
-0
Introduction
0,000
e1
e2
Geraldo
Rebouas
-0,008
0,0
5,0
e1
Some topics
on nonlinear
control
(a)
10%
+10%
10%
+10%
2,0
2,0
1,0
0,0
0,0
de
u
Parametric
dependence
20,0
3,0
4,0
Stabilization
of UPOs
15,0
(b)
6,0
SMC+AC
10,0
t
-2,0
-1,0
-4,0
-2,0
Chaos control
High periodic UPOs
Conclusions
-6,0
0,0
5,0
10,0
t
15,0
20,0
-3,0
0,0
(c)
5,0
10,0
t
(d)
Figure
15,0
20,0
0,004
0,004
0,002
0,003
0,002
0,000
-0,002
-0,004
0,001
0,000
-0,006
-0,008
Introduction
-0,001
5%
0%
+5%
-0,010
-0,012
-0,002
-0,003
4
00
5
00
0,
0,
2
00
3
00
0,
0,
0
00
02
01
,0
1
00
0,
0,
-0
03
,0
-0
04
,0
,0
-0
-0
Chaotic
systems
5%
0%
+5%
e1
e2
Geraldo
Rebouas
0,005
0,008
0,006
-0,004
0,0
5,0
e1
Some topics
on nonlinear
control
(a)
5%
+5%
5%
+5%
1,0
1,0
0,5
0,0
0,0
de
u
Parametric
dependence
20,0
1,5
2,0
Stabilization
of UPOs
15,0
(b)
3,0
SMC+AC
10,0
t
-1,0
-0,5
-2,0
-1,0
Chaos control
High periodic UPOs
Conclusions
-3,0
0,0
5,0
10,0
t
15,0
20,0
-1,5
0,0
(c)
5,0
10,0
t
(d)
Figure
15,0
20,0
0,008
Geraldo
Rebouas
0,006
Introduction
0%
+5%
+10%
0,004
Some topics
on nonlinear
control
e1
Chaotic
systems
0,002
0,000
SMC+AC
Stabilization
of UPOs
-0,002
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
-0,004
0,0
5,0
10,0
t
Figure
15,0
20,0
0,005
0,002
0,000
0,004
1%
0%
+1%
-0,002
0,003
-0,004
0,002
e1
e2
Geraldo
Rebouas
-0,006
-0,008
Introduction
0,001
1%
0%
+ 1%
-0,010
0,000
-0,012
5
00
0,
04
0
0,
3
00
0,
2
00
0,
00
0,
01
,0
00
0,
-0
Chaotic
systems
-0,001
0,0
5,0
e1
Some topics
on nonlinear
control
(a)
0,5
Stabilization
of UPOs
0,0
1%
+1%
0,8
0,6
-2,0
Conclusions
0,4
de
Chaos control
-1,5
-2,5
0,0
1%
+1%
1,0
u
-1,0
20,0
1,2
-0,5
Parametric
dependence
15,0
(b)
1,0
SMC+AC
10,0
t
0,2
0,0
-0,2
5,0
10,0
t
15,0
20,0
-0,4
0,0
(c)
5,0
10,0
t
(d)
Figure
15,0
20,0
0,005
0,008
0%
+5%
+10%
0,006
Introduction
0,003
0,002
0,002
0,001
e1
e1
0,004
Chaotic
systems
0,000
0,000
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
0%
+1%
+5%
0,004
-0,001
-0,002
-0,004
0,0
-0,002
5,0
10,0
t
15,0
20,0
-0,003
0,0
(a)
5,0
10,0
t
(b)
Figure
15,0
20,0
Geraldo
Rebouas
Introduction
Chaotic
systems
5,0
Some topics
on nonlinear
control
3,0
2,0
SMC+AC
1,0
x2
Stabilization
of UPOs
0,0
Parametric
dependence
-1,0
Chaos control
-2,0
-3,0
Conclusions
Generic
UPO
4,0
-4,0
-5,0
-3,0
-2,0
-1,0
0,0
x1
1,0
2,0
3,0
0,025
0,010
Generic
UPO, = +1%
0,020
0,006
0,005
0,004
e1
e2
0,010
Geraldo
Rebouas
Generic
UPO, = +1%
0,008
0,015
0,000
-0,005
Introduction
-0,010
Chaotic
systems
-0,020
0,002
-0,015
0,000
0
01
0,
08
0
0,
6
00
0,
4
00
0,
00
0,
02
,0
00
0,
-0
-0,002
0,0
5,0
e1
Some topics
on nonlinear
control
(a)
SMC+AC
Stabilization
of UPOs
15,0
20,0
(b)
10,0
3,0
5,0
2,5
0,0
2,0
Generic
UPO, = +1%
1,5
-5,0
-15,0
Chaos control
-20,0
-25,0
-30,0
0,0
de
1,0
-10,0
Parametric
dependence
Conclusions
10,0
t
0,5
0,0
-0,5
Generic
UPO, = +1%
5,0
10,0
t
15,0
-1,0
20,0
-1,5
0,0
(c)
5,0
10,0
t
(d)
Figure
15,0
20,0
Conclusions
Orbit
UPO
UPO
UPO
UPO
UPO
generic
UPO
UPO
Difference, (%)
10
5
1
0
+1
+1
+5
+10
MSE 106
8,998801
3,225089
0,9815551
0,8443530
0,9034696
6,687238
2,812772
8,089687
ku(t)k2
14,52632
7,536026
1,734424
0,7887732
1,750074
94,28872
7,521746
14,42556
kde (t)k2
7,588040
4,073873
0,9763071
0,4463901
0,9703231
2,225100
4,051487
7,526541
Estimating performance
Mean Squared Error
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
10,0
Data
Approximation
9,0
8,0
Chaotic
systems
7,0
EQM 106
Introduction
6,0
5,0
4,0
3,0
Some topics
on nonlinear
control
2,0
1,0
0,0
-10,0
-5,0
SMC+AC
0,0
(%)
5,0
10,0
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Estimating performance
Control output
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
16,0
Data
Approximation
14,0
12,0
Introduction
Some topics
on nonlinear
control
SMC+AC
10,0
kuk2
Chaotic
systems
8,0
6,0
4,0
2,0
0,0
-10,0
-5,0
0,0
(%)
5,0
10,0
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Estimating performance
Adaptive compensation
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
8,0
Data
Approximation
7,0
6,0
Introduction
Some topics
on nonlinear
control
SMC+AC
5,0
kde k2
Chaotic
systems
4,0
3,0
2,0
1,0
0,0
-10,0
-5,0
0,0
(%)
5,0
10,0
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Estimating performance
7% difference
Stabilization
of UPOs using
SMC+AC
0,015
0,008
+5%
+7%
+10%
0,010
0,004
0,000
0,002
e1
e2
0,005
Geraldo
Rebouas
-0,005
Introduction
+5%
+7%
+10%
0,006
0,000
-0,010
-0,002
-0,015
8
00
0,
06
4
00
0
0,
0,
2
00
0,
0
02
00
0,
,0
-0
04
,0
-0
Chaotic
systems
-0,004
0,0
5,0
e1
Some topics
on nonlinear
control
(a)
+5%
+7%
+10%
1,0
Chaos control
High periodic UPOs
Conclusions
2,0
1,5
1,0
de
0,0
-1,0
-2,0
0,5
-3,0
0,0
-4,0
-0,5
-5,0
-1,0
-6,0
0,0
5,0
10,0
t
15,0
+5%
+7%
+10%
2,5
u
Parametric
dependence
20,0
3,0
2,0
Stabilization
of UPOs
15,0
(b)
3,0
SMC+AC
10,0
t
20,0
-1,5
0,0
(c)
5,0
10,0
t
(d)
Figure
15,0
20,0
Estimating performance
7% difference
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Estimated
Obtained
Relative error (%)
MSE 106
4,375255
4,591771
4,72
ku(t)k2
10,287687
10,33230
0,43
kde (t)k2
5,420203
5,491363
1,30
Introduction
Chaotic
systems
Some topics
on nonlinear
control
6,0
4,0
2,0
x2,d
Geraldo
Rebouas
0,0
-2,0
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
-4,0
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1,d
1,0
2,0
3,0
4,0
0,020
0,008
0,015
0,006
0,010
0,004
0,005
0,002
0,000
-0,005
-0,002
-0,010
Introduction
0,000
e1
Geraldo
Rebouas
e2
Stabilization
of UPOs using
SMC+AC
-0,004
-0,015
-0,006
-0,020
6
00
8
00
0,
4
00
0,
02
2
00
0,
0,
0
00
0,
04
,0
-0
06
,0
-0
08
,0
,0
-0
-0
Chaotic
systems
-0,008
0,0
10,0
20,0
30,0
e1
Some topics
on nonlinear
control
(a)
50,0
60,0
70,0
80,0
60,0
70,0
80,0
(b)
8,0
SMC+AC
40,0
t
3,0
6,0
2,0
4,0
Stabilization
of UPOs
-2,0
Chaos control
-4,0
-6,0
-8,0
0,0
0,0
de
0,0
Parametric
dependence
Conclusions
1,0
2,0
-1,0
-2,0
10,0
20,0
30,0
40,0
t
50,0
60,0
70,0
80,0
-3,0
0,0
(c)
10,0
20,0
30,0
40,0
t
(d)
Figure
50,0
6,0
Introduction
4,0
Chaotic
systems
2,0
x2,d
Some topics
on nonlinear
control
0,0
-2,0
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
-4,0
-6,0
-4,0
-3,0
-2,0
-1,0
0,0
x1,d
1,0
2,0
3,0
4,0
0,020
0,008
0,015
0,006
0,010
0,004
0,005
0,002
0,000
-0,005
-0,002
-0,010
Introduction
0,000
e1
Geraldo
Rebouas
e2
Stabilization
of UPOs using
SMC+AC
-0,004
-0,015
-0,006
-0,020
6
00
8
00
0,
4
00
0,
02
2
00
0,
0,
0
00
0,
04
,0
-0
06
,0
-0
08
,0
,0
-0
-0
Chaotic
systems
-0,008
0,0
10,0
20,0
30,0
e1
Some topics
on nonlinear
control
(a)
50,0
60,0
70,0
80,0
60,0
70,0
80,0
(b)
8,0
SMC+AC
40,0
t
3,0
6,0
2,0
4,0
Stabilization
of UPOs
-2,0
Chaos control
-4,0
-6,0
-8,0
0,0
0,0
de
0,0
Parametric
dependence
Conclusions
1,0
2,0
-1,0
-2,0
10,0
20,0
30,0
40,0
t
50,0
60,0
70,0
80,0
-3,0
0,0
(c)
10,0
20,0
30,0
40,0
t
(d)
Figure
50,0
Conclusions
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Conclusions
Future works
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Experimental validation;
Use of other compensation techniques;
Similar analysis of other parameters;
Use of optimum control strategies to identify UPOs from
actual system using UPOs from estimated system;