Reduction of observation spillover in vibration suppression using a sliding mode observer

Abstract: The objective of this study is to demonstrate that sliding mode observers can eliminate observation spillover in the vibration control of flexible structures. It is common to build a state feedback controller and a state estimator based on the mathematical model of the system with a finite number of vibration modes, but this may cause control and observation spillover due to the residual (uncontrolled) modes. This paper deals with the elimination of observation spillover using a sliding mode observer. The performance of a sliding mode observer is compared with that of a conventional Kalman filter to demonstrate robustness and disturbance decoupling characteristics. Simulation and experimental results using the sliding mode observer are presented for active vibration control of a cantilever beam