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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
Stabilization of Unstable Periodic Orbits using

Sliding Mode Control with Adaptive
Compensation
Geraldo Francisco de Souza Rebouas, M.Sc.
Federal University of Rio Grande do Norte UFRN
Post Graduate Program in Mechanical Engineering PPGEM
Advisor: Wallace Moreira Bessa, D.Sc.
High periodic UPOs
Conclusions
11th August 2014
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
Design a sliding modes controller, SMC;

Design an adaptive compensator to deal with SMC
limitations;
Analyze influences of small parametric changes on:
systems behavior;
control performance;
Compare stabilization of UPOs against generic orbits;
Chaotic behavior can be seen in nature...

Stabilization
of UPOs using
SMC+AC
Physics, Chemistry, Biology, Demography, Economics...
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
(a) Catarina tropical cyclone

viewed from International Space
Station, ISS.
(b) Romanesco broccoli, Brassica

oleracea var. italiaca
Figure
... and also in engineering

Stabilization
of UPOs using
SMC+AC
Its been undesirable in some applications, but welcome in

others;
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
(a) Straight wing profile
(b) Curved wing profile
Conclusions
Figure : Shape Memory Alloys, SMAs
... and also in engineering

Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Its been undesirable in some applications, but welcome in

others;
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Figure : Redesigned trajectory of ISEE-3 satellite.
Duffings Oscillator
History and Applications
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
Initially studied by Georg

Duffing (18611944),
german Mech. Eng.;
Can describe the physical
behavior of many systems;
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;
General case: damping;

+ a1 + a2 + a3 3 = a4 sin(t)
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;
the term a2 + a3 3 can be seen as a nonlinear spring:

if a2 > 0: linear behavior for small displacements;
Se a3 > 0: hardening spring;
Se a3 < 0: softening spring;
Bifurcations
General view
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Appears in both linear and nonlinear systems;

Related with parametric changes;
Indicates qualitative changes;
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
High periodic UPOs
0,3
0,1
0,0
1,0
Conclusions
1,5
2,0
2,5
a
3,0
3,5
Figure : Logistic Map
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
Writing Duffings oscillator equation in state variables we

have:
x 1 = x2
x 2 = 0,05x2 + 0,2x1 1,19x13 + 6,6 sin(t)
We study the a3 parameter, because:
if a3 = 0 = unstable system;
its responsible for its the complex behavior and stability;
Nominal value for a3 : 1,19;
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
High periodic UPOs
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
High periodic UPOs
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
High periodic UPOs
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
Simplifies the phase plane;
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
High periodic UPOs
Conclusions
Figure : Orbit
Figure : Poincars section
4,0
Poincars section
Chaotic systems
Stabilization
of UPOs using
SMC+AC
Steady state: tends to a specific pattern;
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
Unstable Periodic Orbits

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
UPOs are orbits which are not stable enough to turn

chaotic behavior into periodic;
Appears only during some time, giving rise to other UPO
with different periodicity;
Chaotic systems oscillate between neighborhoods of
different equilibrium points;
Due to sensitive dependence on initial conditions, its
know that chaotic systems have infinity UPOs;

Close Return Method
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
A simple techinque to identify UPOs from the distance

between 2 points of Poincars section;
to find a UPO with periodicity j, we have:
||Pi Pi+j || r1
r1 is the minimum distance;

Periods 1 and 3
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
High periodic UPOs
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

Period 5
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
6,0
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
Some topics on nonlinear control

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
Can deal with nonlinear and time varying systems;

Bigger operating range, in general;
no need of linearization;
Low cost;
Sliding Mode Control

General view
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
e2
ng
di
sli
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
approaching
uses a sliding surface

designed with attractive
properties;
e(t = 0)
e1
s=0
Tracking problem
Stabilization problem;
sgn(s)
its a robust strategy;
Chaos control
High periodic UPOs
Conclusions

Definitions
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Consider the following dynamical system:

for i from 1 to n 1
x i = xi+1 ,
x n = f (t, x) + b(t, x)u(t, x)
y = x1
We can define the following hyphoteses:
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
|fe (t, x) f (t, x)| F (t, x)

0 < bm b(t, x) bM

Definitions
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
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

Definitions
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
For a second order system:

s = e 1 + e1 = 0 e1 (t) = e1 (0)e t
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

Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
It assures finite time convergence;
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)|
To keep s = 0, we also must have: s = 0. So:

s = e n + qT e
= x n x n,d + qT e
= f + bu x n,d + qT e

Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
As we dont know f neither b, The best estimative to the

controller output u is given by:
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
In order to guarantee the

sliding condition we add:
Chaos control
High periodic UPOs
Conclusions
u = ue K sgn(s)

The gain K
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
Using the sliding condition we can define it as:

K ( + F )/be + ( 1)|fe + qT e x n,d |
Very important during the approaching phase, s 6= 0;

Applied to Duffings Oscillator
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Estimated model:
Introduction
x 1 = x2
Chaotic
systems
x 2 = 0,05x2 + 0,2x1 1,19x13 + 6,6 sin(t) + u(t)
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Reference signal: Generic orbit;

x1,d (t) = 2,5 sin(t + 0,644) 0,5
x 1 = x2,d (t) = 2,5 cos(t + 0,644)
Controller gain: b = 1;
= 2 and = 5;

Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Actual system: estimated model + variation of 10% over

a3 . a30 =1,309;
fe (t, x) = 0,05x2 + 0,2x1 1,19x13 + 6,6 sin(t)
f (t, x) = 0,05x2 + 0,2x1 1,309x13 + 6,6 sin(t)
= F 0,119|x13 |
So, the gain K can be written as:
K + F = 5 + 0,119|x13 |
Parametric
dependence
Chaos control
And the controller output:
High periodic UPOs
Conclusions
u = x 2,d + 0,05x2 0,2x1 + 1,19x13 6,6 sin(t)+

2e2 (5 + 0,119|x13 |) sgn(s)

Stabilization
of UPOs using
SMC+AC
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
High periodic UPOs
-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

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
Chattering:
High frequency oscillations on the controller output;
Undesirable in mechanical systems;
Can excite unmodelled dynamics;
Occurs due to the discontinuity of sgn(s);
Solution: Smothing the discontinuity!

Saturation function
Stabilization
of UPOs using
SMC+AC
sat(s)
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
1
1
Replaces signal function;

smooth at origin;
creates a boundary region;
Decreases controllers
accuracy;
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

Boundary region
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Attractive region between two lines: s = and s = ;

Now the boundary region has attractive properties;
X

X
X
s=
0 |s| ;
New goal:
Steady state error settles into shaded region;
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
Sliding Mode Control with saturation function

Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Thickness of the boundary region: = 0,1;
Chaotic
systems
Controller output:
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
u = x 2,d + 0,05x2 0,2x1 + 1,19x13 6,6 sin(t)

2e2 (5 +
0,119|x13 |) sat
s
0,1

Stabilization
of UPOs using
SMC+AC
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)
High periodic UPOs
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

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:
No chattering;
Residual error inside the boundary region;
Considerable amount of controller output;
Control of chaotic systems

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
OGY method and Time delayed feedback control;

UPOs as reference signal;
No need of a mathematical model;
Uses small parametric pertubations;
Only operates when the system is close to the desired
UPO;

Time delayed feedback control
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
Also uses UPOs as reference;

Small energy consumption;
Controller output is proportional to the difference between
the current and the delayed state;
No need for a detailed mathematical model;
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Its hard to find delay time in autonomous systems;

There is a small range of values for k;
Its hard to stabilize high periodic UPOs;

UPO as reference
Stabilization
of UPOs using
SMC+AC
This new reference is more complex than the latter;
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
High periodic UPOs
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

UPO as reference
Stabilization
of UPOs using
SMC+AC
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
High periodic UPOs
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
10,0 12,0 14,0 16,0 18,0 20,0

t
-0,10
0,0
(c)
2,0
4,0
6,0
8,0
10,0 12,0 14,0 16,0 18,0 20,0

t
(d)
Figure

UPO as reference
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:
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 has some limitations;

Accuracy or performance;
Perturbations and disturbances;
Unmodeled dynamics;
We can account this limitations by adding the term d, so

we get:
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
x i = xi+1 , for i from 1 to n 1

x n = f (t, x) + b(t, x)u(t, x) + d(t, x)
y = x1
Stabilization
of UPOs using
SMC+AC
In the same way, we can define the following hypotheses:

|d(t, x)|
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
|fe (t, x) f (t, x)| F (t, x)

Again, in order to keep s = 0, we also must have: s = 0.
So:
s = x n x n,d + qT e = 0
= f + bu + d x n,d + qT e = 0
As we dont know neither f , b or d, the best estimative to
control output is given by:
ue =
1
(fe de + x n,d qT e)
be
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
In order to ensure the sliding condition we add:

u = ue K sgn(s)
Using the sliding condition we can define K as:
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
K ( + F + |de | + )/be + ( 1)|ue |
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Now we should define an estimative de to d;

That could be done through a finite Fourier series:
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
Stabilization
of UPOs
de (t) = w0 +
N
X
w2n1 sin(nt) + w2n cos(nt) = wT
n=1
Unfortunately we cant find an expression for wi ;

But we can estimate them online:
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
wi = sgn(si )
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
To avoid chattering we have:

u = ue K sat
s
si
wi = sat
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Keeping the same difference of 10% over a3 and defining

= 3, we have:
K + F + + |de | = 8 + 0,119|x13 | + |de |
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
de = Fourier series with N = 3 terms;
s
0,1
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
High periodic UPOs
-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
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
We will study the influence of a3 using values close to the

nominal one, a3 = 1,19;
a30
a30
a30
a30
a30
=
=
=
=
=
95% de a3 , a30 = 1,1305;

99% de a3 , a30 = 1,1781;
101% de a3 , a30 = 1,2019;
105% de a3 , a30 = 1,2495;
110% de a3 , a30 = 1,309;
Time response
Stabilization
of UPOs using
SMC+AC
The states tend to get away in time;

Local differences;
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
High periodic UPOs
Conclusions
-3,0
20,0
25,0
30,0
35,0
40,0
t
Figure : 1%
45,0
50,0
55,0
60,0
Time response
Stabilization
of UPOs using
SMC+AC

Local differences;
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
High periodic UPOs
Conclusions
-4,0
0,0
5,0
10,0
15,0
20,0
t
Figure : 5%
25,0
30,0
35,0
40,0
Time response
Stabilization
of UPOs using
SMC+AC

Local differences;
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
High periodic UPOs
Conclusions
-4,0
0,0
5,0
10,0
15,0
20,0
t
25,0
Figure : +10%
30,0
35,0
40,0
Poincars section
Stabilization
of UPOs using
SMC+AC
Despite the parametric variation, the attractor keeps its

structure;
Geraldo
Rebouas
Local differences Global similarity;
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
High periodic UPOs
-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
Figure : Nominal, a3 = 1,19
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
Poincars section
Stabilization
of UPOs using
SMC+AC

structure;
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
High periodic UPOs
-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
Poincars section
Stabilization
of UPOs using
SMC+AC

structure;
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
High periodic UPOs
-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
Poincars section
Stabilization
of UPOs using
SMC+AC

structure;
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
High periodic UPOs
-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
Poincars section
Stabilization
of UPOs using
SMC+AC

structure;
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
High periodic UPOs
-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
Unstable Periodic Orbits Period 1
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
It has little influence on UPOs;

They are similar in some intervals;
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
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
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
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
High periodic UPOs
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
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
High periodic UPOs
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
Sliding Mode Control of chaotic systems

Null difference
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
Introduction
Chaotic
systems
Some topics
on nonlinear
control
SMC+AC
f (t, x) = fe is fully known;

Reference: period 1 UPO obtained from nominal model;
Smoothed Sliding Mode Control;
u = x 2,d + 0,05x2 0,2x1 + 1,19x13 6,6 sin(t)+
2e2 (5 +
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

Null difference
Stabilization
of UPOs using
SMC+AC
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

Null difference
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
SMC with adaptive compensation:

u = x 2,d + 0,05x2 0,2x1 + 1,19x13 6,6 sin(t)+
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
SMC with adaptive compensation

Null difference
Stabilization
of UPOs using
SMC+AC
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

10% difference
Stabilization
of UPOs using
SMC+AC
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

5% difference
Stabilization
of UPOs using
SMC+AC
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

5% difference
Stabilization
of UPOs using
SMC+AC
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

1% difference
Stabilization
of UPOs using
SMC+AC
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
High periodic UPOs
-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

convergence of error
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
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

Generic orbit
Stabilization
of UPOs using
SMC+AC
x1,d (t) = 2,5 sin(1,843t + 0,644) 0,5
Geraldo
Rebouas
Introduction
x 1,d = x2,d (t) = 4,6075 cos(1,843t + 0,644)
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
High periodic UPOs
-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

Generic orbit
Stabilization
of UPOs using
SMC+AC
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
High periodic UPOs
-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

Controller performance
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
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
MSE u 0,9423230 0,0445667 + 0,0764265 2

2
RMSE
= 0,9988792
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
ku(t)k2 u 1,3959345|| + 0,5161454

Ru2 = 0,9993233
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
kde (t)k2 u 0,7240269|| + 0,3520143

Rd2 = 0,9990803
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
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
Stabilization of high periodic UPOs

Period 3
Stabilization
of UPOs using
SMC+AC
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

Period 3
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
High periodic UPOs
-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

Period 5
Stabilization
of UPOs using
SMC+AC
Geraldo
Rebouas
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

Period 5
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
High periodic UPOs
-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
Despite parametric variations we seen little changes on

Poincars section and UPOs;
Chaotic
systems
UPOs demand a smaller control output, if compared with

generic orbits;
Some topics
on nonlinear
control
Adaptive compensation decreases residual error;
SMC+AC
Stabilization
of UPOs
Parametric
dependence
Chaos control
High periodic UPOs
Conclusions
Robustness of controller and adaptive compensation;

Similarity of e1 and u(t) for different ;
Stabilization of period 3 and 5 UPOs;
Development of relations for MSE, ku(t)k2 e kde (t)k2 as
function of ;
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;

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Stabilization

Stabilization of Unstable Periodic Orbits using

High periodic UPOs

11th August 2014

Design a sliding modes controller, SMC;

Compare stabilization of UPOs against generic orbits;

Chaotic behavior can be seen in nature...

Physics, Chemistry, Biology, Demography, Economics...

(a) Catarina tropical cyclone

(b) Romanesco broccoli, Brassica

... and also in engineering

Its been undesirable in some applications, but welcome in

(a) Straight wing profile

(b) Curved wing profile

Figure : Shape Memory Alloys, SMAs

... and also in engineering

Its been undesirable in some applications, but welcome in

Figure : Redesigned trajectory of ISEE-3 satellite.

Initially studied by Georg

General case: damping;

the term a2 + a3 3 can be seen as a nonlinear spring:

Appears in both linear and nonlinear systems;

High periodic UPOs

Figure : Logistic Map

Writing Duffings oscillator equation in state variables we

Nominal value for a3 : 1,19;

High periodic UPOs

High periodic UPOs

High periodic UPOs

Simplifies the phase plane;

High periodic UPOs

Figure : Poincars section

Steady state: tends to a specific pattern;

Unstable Periodic Orbits

UPOs are orbits which are not stable enough to turn

Unstable Periodic Orbits

A simple techinque to identify UPOs from the distance

Unstable Periodic Orbits

High periodic UPOs

Unstable Periodic Orbits

Some topics on nonlinear control

Can deal with nonlinear and time varying systems;

Sliding Mode Control

uses a sliding surface

its a robust strategy;

High periodic UPOs

Sliding Mode Control

Consider the following dynamical system:

We can define the following hyphoteses:

|fe (t, x) f (t, x)| F (t, x)

Sliding Mode Control

Sliding Mode Control

For a second order system:

Sliding Mode Control

It assures finite time convergence;

To keep s = 0, we also must have: s = 0. So:

Sliding Mode Control

As we dont know f neither b, The best estimative to the

In order to guarantee the

Sliding Mode Control

Using the sliding condition we can define it as:

Sliding Mode Control

x 2 = 0,05x2 + 0,2x1 1,19x13 + 6,6 sin(t) + u(t)