Non-Collocated Sliding Mode Control of Systems Described by

Parabolic Partial Differential Equations*

Jose Luis H. Villar1 , Nataly Ines C. Molina2 and José Paulo V. S. Cunha1

Abstract— The non-collocated SMC of PDEs is considered, III. CONCLUSIONS

that is, where the sensor and the actuatorar at different
positions.
A conclusion ...

I. INTRODUCTION
The non-collocated method is systematically applied, due
to the introduction of backstepping method to PDEs in the
last few years [1] . to stabilize some unstable or even anti-
stable wave and heat equations
This ... teste da bibliografia: [2] tes
II. PROCEDURE FOR PAPER SUBMISSION
A. Selecting a Template (Heading 2)
Start with one of the simplest unstable PDEs, the reaction-
diffusion equation [1]:
APPENDIX
Appendixes should appear before the acknowledgment.
ACKNOWLEDGMENT
R EFERENCES
[1] B.-Z. Guo and H. H. Cheng-Zhong Xu, “Output feedback stabilization
of a one-dimensional wave equation with an arbitrary time delay in
boundary observation,” ESAIM: Control, Optimisation and Calculus of
Variations, vol. 18, no. 1, pp. 22–35, 2012.
[2] N. I. C. Molina and J. P. V. S. Cunha, “A distributed parameter approach
for sliding mode control of soil irrigation,” in Proc. of the 20th IFAC
World Congress, vol. 50, Toulouse, France, July 2017, pp. 2714–2719.

ut (x, t) = uxx + λu(x, t) (1)

u(0, t) = 0...........unstable (2)
u(1, t) = U (t).....control (3)
We consider system (1) in the state space H = L2 (0, 1).
Sliding mode control approach (SMC), we introduce a State
transformation .
Z
w(x, t) = u(x, t) − k(x, y)u(y, t)dy (4)
0
where the gain kernel k satisfies the following PDE:
kxx (x, y) − kyy (x, y) = uxx + λu(x, t) (5)
Feedback control
Z
w(1, t) = k(1, y)u(y, t)dy (6)
0
B. applied in a stable parabolic PDE
Richards equation, vertical and horizontal
ut (z, t) = Duzz − K0 u(z, t) (7)
u(x, t) = Duxx (x, t) (8)
2
where D(u) ∈ R+ ,is the hydraulica diffusivity ( ms ),K0 is
a constant coefficient ( m
s ). Neumann boundary conditions

ut (o, t) = −D−1 [u1 (t) + d0 (t)] (9)

ut (L, t) = −D−1 dL (t) (10)
*This work was supported in part by Brazilian funding agencies CNPq
and FAPERJ.
1 J. L. H. Villar and J. P. V. S. Cunha are with Dept. of Elec-
tronics and Telecommunication Engineering, State University of Rio
de Janeiro (UERJ), Rio de Janeiro, RJ 20550-900, Brazil. E-mail:
villarjose348@gmail.com and jpaulo@ieee.org
2 N. I. C. Molina is with ... natalych8674@gmail.com