Sliding Mode: Basic Theory and New Perspectives: Dept of Electrical and Electronic Eng

SDS 2008 - Capitolo (BA) June 2008 1/54
Dept of Electrical and Electronic Eng.

Dept of Electrical and Electronic Eng.
University of University of Cagliari Cagliari
5
th
Workshop
on
Structural Dynamical Systems: Computational Aspects
Capitolo (BA) Italy
Sliding mode:
Basic theory and new perspectives
Elio USAI
eusai@diee.unica.it
Summary
Switching systems
Introductive examples
Zeno behaviour
Sliding modes in switching systems
Regularization of sliding a mode trajectory
Sliding modes in control systems
Stability of a sliding mode control system
Invariance of a sliding mode control system
Recovering the uncertain dynamics
Approximability
Discrete time implementation
Higher order sliding modes
Switching systems
Switching systems are dynamical systems such that their behaviour
is characterised by different dynamics in different domains
( ) ( ) ( ) ( )
N
R R R

=
+
Q i
t U X t t t f t
m
i
n
i i
, , , , , u x u x x
&
f
i
is a smooth vector field f
i
: R
n
xR
m
xR
+
R
n
The state dynamics is invariant until a switch occurs
The system dynamics is represented by a differential
equation with discontinuous right-hand side
Switching systems
Switching between different dynamics
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
{ }
N
R R R

= =
=
+
+ + + +
Q j i
t U X
f f
g
l
m
i
n
i
j i
k k k k
sw
k k k k k k k k
i
,
1 , 0 , ,
, , , , ,
0 , , ,
v u x
u x x u x x
v u x

& &
The reaching of the guard g
i
sw
cause the switching from the
dynamics f
i
to the dynamics f
j
, according to proper rules
Switching systems
What does it happen on the guard? ( ) ( ) ( ) ( ) 0 , , , =
k k k k
sw
i
g v u x
( ) { } 1 , 0
k
v
Forced switching
( ) ( )
+
=
k k
x x Continuous state variables
( ) ( )
+
=
k k
u u
Continuous control variables
( ) ( )
+
k k
x x Jumps in state variables
( ) ( )
+
k k
u u Discontinuous control variables
Most interesting.. the time evolution of the guard function!
( )
k
v
Autonomous switching
Switching systems may behave very differently from each
of the constituting ones.
( ) ( ) ( )
( ) ( ) ( )
2
0
1
0
2
0 1
1
0 1
0
2 0
1 0
a a
system t y a t y a t y
system t y a t y a t y
< <
= + +
= + +
& & &
& & &
a
1
>0 the systems are both asymptotically stable
a
1
=0 the systems are both marginally stable
a
1
<0 the systems are both unstable
-3 -2 -1 0 1 2 3
-3
-2
-1
0
1
2
3
y(t)
d
y
(
t
)
/
d
t
Phase plane
a
0
1
=0.5
a
0
2
=9.0
-10 -5 0 5 10
-5
0
5
10
15
20
Phase plane
y(t)
d
y
(
t
)
/
d
t
( )
2 . 0 7 . 0 1 . 0
0 sgn
0 0 1
0 0 1
= = =
= + +
a a a
y y a y a y a y & & & &
1 . 0
1
= a
Switched unstable dynamics
Both dynamics are
asymptotically stable
1 . 0
1
= a
Switched asymptotically
stable dynamics
Both dynamics are unstable
-0.4 -0.2 0 0.2 0.4 0.6 0.8 1 1.2
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Phase plane
y(t)
d
y
(
t
)
/
d
t
-6 -4 -2 0 2 4 6 8
-6
-4
-2
0
2
4
6
y(t)
d
y
(
t
)
/
d
t
Phase plane
a
0
2
=9.0
a
0
1
=0.5
( )
2 . 0 7 . 0 1 . 0
0 sgn
0 0 1
0 0 1
= = =
= + + +
a a a
y y a y a y a y & & & &
Mass-spring and Coulomb friction
( ) ( ) ( ) ( ) 0 sgn = + + t ky t y b t y m & & &
Switching time instants
m
k
y
( )
k
m
k y
k k
= = 0 &
-6 -4 -2 0 2 4 6
-5
-4
-3
-2
-1
0
1
2
3
4
5
Phase space
y(t)
d
y
(
t
)
/
d
t
0 2 4 6 8 10
-4
-3
-2
-1
0
1
2
3
4
5
Time [s]
velocity
position
Mass-spring and Coulomb friction
( ) ( ) ( ) ( ) 0 sgn = + + t ky t y b t y m & & &
The guard is
m
k
y
( ) 0 = t y&
In a finite time
the mass stops!

( )
( ) [ ]

+ =
=
t
y t y
t y
k
b
k
b

,
0
&
The state is continuous
The switching is autonomous
( ) ( ) ( ) ( )

= + = t t y
m
k
t y
m
b
t y 0 sgn & & &
?
Singular optimal control
( ) ( )
( ) ( ) [ ]
( ) ( )
T
T
T u
dt u b f J
u b f
x x x x
x x
x x x
= =
+ =
+ =
, 0 , 1
0
0
0 0
&
( ) ( ) ( ) ( ) [ ]
( ) ( ) ( ) x p x
x
p
x x p x x
b b u
H
u b f u b f H
T
T
T
+ =
(
=
+ + + =
0
0 0
sgn
&
( ) ( ) [ ]
2 1 0
, 0 t t t b b
T
= + x p x
u switches at infinite frequency
u is defined looking at the higher
derivatives of the guard
The bouncing ball
( )
( ) ( )
( ) ( ) [ ] 1 , 0
, 2 , 1 0 :
0
=
= =
=
+

i i
y y
i y
y g t y
i i
& &
K
& &
y
0 1 2 3 4 5 6
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Time [s]
E
l
e
v
a
t
i
o
n
( )
+
+ + =
+ = =
+ =
+
+
+
1
1
2
2
2
0
2
1
0
1
0
2
0
2
2
1
0
0
0
gy y y
gy y y y
gy y
g g
k
k k
k
g k k
& &
& & &
&
The bouncing ball
( ) ( ) ( ) ( )
[ ] 1 , 0
0 1
+ =
y y t y g t y & & &

y
with abuse of notation
() is the Diracs function
In a finite time
the mass stops!

( )
( )

=
=
t
t y
t y

0
0
&
( ) ( ) ( ) ( )

= + = t y t y g t y 0 1 & & &
?
Zeno behaviour
T = {
i
}
iN
: set of switching/jump time instants
In = {x
i
}
iN
x
i
D : set of initial states sequence
Ed = {
i
}
iN

i
=(i,j) Q x Q : set of edge sequence
{ } Ed In T , , =
H
The execution
H
of the hybrid system H can be constituted by finite or
infinite elements.
Executions with infinite number of elements may be due to the Zeno Zeno
phenomenon
The switching behaviour of a hybrid system can be described by its
execution set
Zeno behaviour
The Zeno phenomenon appears when the execution
H
of the
hybrid system is such that
( ) < = =
=
+

0
1
lim
i
i i i
i
(Zeno time) is a right accumulation point for the time instants sequence
( ) 0
1

+

i
i i

The switching frequency tends to be infinite
In a Zeno condition the system evolves along a guard
( ) ( )
( )

=
t t
t t g
0
,
x
x
x
&
The Zeno phenomenon is mainly related to the switching frequency
on a guard, but previous relationship shows the relation between the
guard and the system dynamics
( ) ( ) 0 , = t t g x
( ) ( ) ( ) t t f t ,
1
x x = &
( ) ( ) ( ) t t f t ,
2
x x = &
( ) ( ) ( ) t t f t
s
, x x = &
( ) ( )
x
x
t t g ,
The motion of the system on a discontinuity surface is called sliding mode
Sliding modes are Zeno behaviours in switching
systems
The system is constrained onto a surface in the
state space, the sliding surface
When the system is constrained on the sliding
surface, the system modes differ from those of the
original systems
The system is invariant when constrained on the
sliding surface
Any system on the sliding surface behaves the
same way
= >
= +
0 1
0 1
0
0
a a
y a y a y & & &
a
0
=
a
0
=-
>0
( ) 0 sgn
0 1
= + y a y a y & & &
, 2 . 0 , 1 , 1
2 1
= = =
+ =
c a a
cy y&
-8 -6 -4 -2 0 2 4 6 8
-10
-8
-6
-4
-2
0
2
4
6
8
10
y
d
y
/
d
t
When considering switched systems, the system dynamics can be
represented by a discontinuous right-hand side differential equation
( ) ( ) 0 , = t t x
( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
>
<
=
0 , ,
0 , ,
2
1
t t t t f
t t t t f
t
x x
x x
x
&
Represents the boundary between two distinct regions
of the state space, possibly time varying
The behaviour of the system on/across the guard , defining
the two distinct regions of the state space, depends on how
the dynamics f
1
and f
2
are related to the switching surface
0 >
0 <
0 =
( ) ( )
( ) ( )
( ) ( )
( ) ( )
>
<
0 ,
,
0 ,
,
1
2
t t f
t t
t t f
t t
x
x
x
x
x
x
attractive
switching surface
0 >
0 <
0 =
( ) ( )
( ) ( )
( ) ( )
( ) ( )
<
>
0 ,
,
0 ,
,
1
2
t t f
t t
t t f
t t
x
x
x
x
x
x
repulsive
switching surface
0 >
0 <
0 =
( ) ( )
( ) ( )
( ) ( )
( ) ( )
>
<
0 ,
,
0 ,
,
1
2
t t f
t t
t t f
t t
x
x
x
x
x
x
across
switching surface
0 >
0 <
0 =
( ) ( )
( ) ( )
( ) ( )
( ) ( )
>
<
0 ,
,
0 ,
,
1
2
t t f
t t
t t f
t t
x
x
x
x
x
x
attractive
switching surface
A Sliding Mode appears in the segment [a, b] of the switching surface if
a
b
( ) ( )
( ) ( )
( ) ( )
( ) ( )
[ ] ( ) ( ) { } 0 , : b a,
0 ,
,
0 ,
,
1
0
2
0
lim
lim
=
>
<
t t
t t f
t t
t t f
t t
x x x
x
x
x
x
x
x
The Sliding Mode is stable in the segment [a, b] of the switching surface
Regularization of a sliding mode trajectory
Considering the switched dynamics
( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
>
=
<
=
0 , ,
0 , ,
0 , ,
2
1
t t t t f
t t t t f
t t t t f
t
s
x x
x x
x x
x
&
Regularization of the sliding mode implies to find the continuous vector
function f
s
such that the state trajectory remains on the switching surface
Filippovs continuation method
Equivalent dynamics method (equivalent control)
Filippovs continuation method
( ) ( ) ( ) ( ) ( ) ( ) ( )
[ ]
( ) ( )
( ) ( ) =
+ =
0 ,
,
: 1 , 0
, , 1 , ,
1 2
t t f
t t
t t f t t f t t f
F
s
F
s
x
x
x
x x x

The dynamics on the sliding surface is defined by a convex combination of
the vector fields defined in the two separated regions of the state space
0 >
0 <
0 =
f
1
f
2
f
sF
( )
( ) ( )
( )
( ) ( )
, 1
,
2 1
2
2 1
1
f f grad
f grad
f f grad
f grad


Equivalent dynamics method
( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
( ) ( ) ( ) 0 , ,
,
:
, , , ,
=
=
t t t f
t t
t t t f t t t f
eq s eq
eq eq s
u x
x
x
u
u x u x
It is used when the discontinuity is due to switching of an independent

variable, the control, u(t)
0 >
0 <
0 =
f
1
f
2
f
Seq
( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
>
=
<
=
0 , , ,
0 , , ,
0 , , ,
2
1
t t t t t f
t t t t t f
t t t t t f
t
eq
x u x
x u x
x u x
x
&
Filippovs continuation method and the equivalent control method
can give different solutions in nonlinear systems
Filippovs continuation method and the equivalent control method
can give different solutions in nonlinear systems
Not uniqueness problems in finding the solution
of the sliding mode dynamics
In real systems such motions appear in representing constrained
systems, or in control systems in which a variable is forced to be zero
Presence of more than a single switching surface
In most cases the uniqueness problem does not arise
Sliding modes in control systems
Usually sliding mode control systems consider dynamics with affine control
( ) ( )
( )
m m n
R R R
t
t B t f

=
+ =
u x
x
u x x x
0 ,
, , &
The control vector is such that
( )
( ) ( )
( ) ( )
m i
t if t u
t if t u
t u
i i
i i
i
, , 2 , 1
0 , ,
0 , ,
, K =
<
>
=
+
x x
x x
x
the sliding manifold is constituted by the intersection of m switching

surfaces, and uniqueness problems can arise
Local stability of a sliding mode on the domain
S(t)={ :
i
=0; i=1,2,,m}
can be stated by the following Lyapunov-like theorem
The subspace S(t) is a sliding domain if a function V( ,x, t) exists in a
domain of the space {
1
,
2
, ,
m
} containing the origin such that:
V( ,x, t) is positive definite with respect to , , , , for all x and any t
On the sphere || ||=R, for all x and any t, the function V( ,x, t)
remains bounded
The total time derivative of function V( ,x, t)
is negative everywhere except on the discontinuity surfaces where it
is not defined
On the sphere || ||=R, for all x and any t, the total time derivative of
V( ,x, t) is upper bounded by a negative constant
( )
t
V
B f
V V
V
+ +
|
\
|
= u
x x
&
The sufficient conditions for stability of the sliding mode are not easy
to verify in general but some specific results can be given
( ) ( )
( )
m m n
R R R
t
t B t f

=
+ =
u x
x
u x x x

0 ,
, , &
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) u x x x
x
t B t f t C B C V B C B V
T T T
, , ,
2
1
2
1
1 1
1
+ = =
|
\
|

&
( ) ( ) ( ) ( ) u u sgn sgn sgn ; sgn = = + + > = B f i k f b u
i i i i

( ) ( ) ( ) ( ) ( ) ( ) V k B f C CB V
T T
= =

sgn sgn
1
&
Convergence to the sliding mode in finite time
SISO systems
( ) ( )
( )
R u R R
t
t t u
n

=
=
x
x h
x f x
,
, , &
( )
( )
( )
n r i
u
y
t u y
i
r
< = =
= 1 , , 2 , 1 0 ; , , K x r is the relative-degree
( )
[ ]
( ) [ ]
( ) ( )
( ) ( ) t u
t
w w w t u
T
r n
T
r
, , ,
, , , ,
, , , ; , , ,
, , , , ,
2 1
1
w y
w y x w y w
w w y
y
=
= =
= =
=

&
K
K & & &
The control can stabilise
the output vector y, but
the internal dynamics w
can be unstable for y =0
(zero-dynamics)

2 2 1 2
2 1
u x x x x
x x
+ =
=
&
&
( )
( ) ( )
sgn 20
1 0 ; 2 0
1
2 1
1 2 2
1 2
=
= =
+ + =
=
u
x x
u x x x
x x
&
Example
0 1 2 3 4 5 6 7 8 9 10
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
Phase plane plot
x
1
x
2
x
1
(0);x
2
(0)
0 0.5 1 1.5 2 2.5 3
-9
-8
-7
-6
-5
-4
-3
-2
-1
0
1
Time [s]
The unstable zero-dynamics

causes the loss of the sliding
mode behaviour
( ) ( )
( ) ( ) ( ) ( ) t b b F t f
u t b t f x
n i x x
m
n
i i
, 0 , ,
, ,
1 , 2 , 1
1
x x x x
x x
<
+ =
= =
+
&
K &
The system is invariant when constrained on the sliding manifold
( ) ( )
( )
( )

2
2
1
1
1
1
1
1
1
1
sgn
, ,
k
b
k x c F
u
x c u t b t f
x c x
m
n
i
i i
n
i
i i
n
i
i i n

+ +
=
+ + =
+ =
=
+
=
+
=
&
&
x
x
x x
The system is uncertain with
known bounds
c
i
are chosen such that the
corresponding polynomial is
Hurwitz
Finite time convergence to
the sliding manifold is
assured
The system is invariant when constrained on the sliding manifold
+
+ =
+ =
= =
1
1
1
1
1
1
2 , 2 , 1
n
i
i i n
n
i
i i n
i i
x c x
x c x
n i x x
&
K &
The system behaves as a
reduced order system with
prescribed eigenvalues
Matching uncertainties, included in the uncertain function f, are
completely rejected
In the sliding mode it is not possible to recover the original system
dynamics (semi-group property)
Take care of unstable zero-dynamics
( ) ( ) ( ) ( ) ( )
cy y
t u y y k k y b y y b b y t m
+ =
= + + + + +
&
& & & & &
sin sgn
2
3 1 3 2 1
( ) sgn U u =
0 0.5 1 1.5 2 2.5 3 3.5
-5
-4
-3
-2
-1
0
1
2
3
4
5
Time [s]
position
velocity

System VSC
ref.
+
_
u
y
System
Internal
Model
u
eq
y
d
+
+
d
+
+
d
The invariance property during the sliding mode means that the
Internal Model Principle is fulfilled
( ) ( )[ ] U U t b t f + + = , , , x x x F
&
The controlled system dynamics belongs to a differential inclusion
The sliding variable can be considered as a performance
index to be nullified to find the right solution
( ) ( ) F + =
eq
u t b t f , ,
*
x x x
&
u u u
av av
= +
If u
eq
is bounded with its time derivative then
=
eq av
u u
0
0
lim
The cut-off frequency of the low-pass filter must be
Greater than the bandwidth of the equivalent control
Lower than the real switching frequency
In practice only an estimate of u
eq
can be evaluated
The equivalent control is the control signal that assures
0
&
( ) ( )
( )
( )
0
,
,
, ,
1
1
1
1
1
1
1
1

+
=
+ + =
+ =
=
+
=
+
&
&
t b
x c t f
u
x c u t b t f
x c x
n
i
i i
eq
n
i
i i
n
i
i i n
x
x
x x
The equivalent control contains
the information on the uncertain
dynamics
( ) ( ) ( )
=
+ =
j U j U j U
eq
The equivalent control can be estimated by a low-pass filter
u u u
av av
= +
( ) ( ) ( ) ( ) ( )
cy y
t u y y k k y b y y b b y t m
+ =
= + + + + +
&
& & & & &
sin sgn
2
3 1 3 2 1
( ) ( ) ( ) ( ) ( )y t cm t y y k k y b y y b b u
eq
& & & &
+ + + + + + + = sin sgn
2
3 1 3 2 1
0 0.5 1 1.5 2 2.5 3 3.5
-30
-25
-20
-15
-10
-5
0
5
10
15
Time [s]
Approximability
+
+ =
+ =
= =
1
1
1
1
1
1
2 , 2 , 1
n
i
i i n
n
i
i i n
i i
x c x
x c x
n i x x
&
K &
The dynamics of the original
system can be reduced to
In the case of switching errors the switching frequency is f
s

the real trajectory x(t) is near to the ideal one x*(t) and
( ) ( ) 0
*

s
f
t t x x
( ) ( )[ ]
( ) ( ) ( ) x x x x
x x x
N M t u t b t f
U U t b t f
+ +
+ + =
, , ,
, , ,
&
Assuming that the
dynamics of the original
system is bounded
Approximability
( )

=
0
x
x x C
Starting from a vicinity of the sliding surface
By the Bellman-Gronwall lemma
( )
( ) ( ) ( ) ( ) +
+ +

H dt t t L S t t
dt N MT M t
T
T
0
* *
0
0
x x x x
x x x
D =
+

0
&
If is the equivalent delay of the switching
Approximability
The most common cause of delay switching is the digital
implementation of the controller
0 1 2 3 4 5 6
-8
-6
-4
-2
0
2
4
6
8
x 10
-3
Tempo [s]
=1e-4
( ) ( ) ( ) ( )
cy y
t u y y k k y y b b y t m
+ =
= + + + +
&
& & &
sin
2
3 1 2 1
0 1 2 3 4 5 6
-8
-6
-4
-2
0
2
4
6
8
x 10
-4
Time [s]
=1e-5
Software implementation of the controller
Discrete-time sliding mode control
[ ] [ ] [ ]
[ ] [ ] [ ] ( ) [ ]
[ ] [ ] ( ) k k
k k k k k
k k k
d d
d d
u
u x
x A x
sgn
, , 1
1
=
+ = +
+ = +
Discrete-time sliding mode control can appear also in systems with
continuous right-hand-side (e.g., deadbeat control)
Discrete time sliding mode control is sensible only in the presence of
uncertainties or disturbances
[ ] K , 2 , 1 , 0 1 = = + k k 0
What is a discrete time sliding mode?
[ ] [ ] K , 2 , 1 , 0 1 = = + k k k 0
The second is not convincing and does not imply the first
The usual implementation of the control law has two parts
* the nominal part
* the discontinuous part to cope with uncertainties
Usual accuracy of discrete time sliding modes is O (T
c
)
Learning and adaptive methods O (T
c
2
)
Multirate sampling allows for output-feedback implementation
of the controller
Effective approach is constituted by continuous time design
and subsequent discretization analysis
Can chaotic behaviour appear ?!
The sliding mode concept can be extended to more complete
integral manifolds
( )
0
1
= = = = =
r
L
& & &
r constraints are introduced in the system dynamics
The control acts on the r-th derivative of the sliding
variable
Accuracy is improved
( )
1 , , 2 , 1 , 0 , = =

r i H
i r
i
i
K
H
i
does not depend on
The internal dynamics has a reduced dimension n-r
The robustness properties are preserved
The approximability property is preserved
Allows for chattering attenuation
No general Lyapunov-like methods for the stability
analysis are available (only very recent results for r=2
were presented)
Phase plane of homogeneity approaches to state the
closed-loop stability
Derivatives of the sliding variable are needed
Higher Order Sliding Modes can be used to regularise
nonlinear variable structure systems with sliding modes
( ) ( )
( )
R u R R
t
t t u
n

=
=
x
x h
x f x
,
, , &
( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( )
( ) ( )
( ) ( ) ( ) ( )v t t u t t u u
u
t t u
t t u
t t u
t
t t u
t t u t t u
t
t
t h
, , , ,
, ,
, ,
, , , ,
, , , ,
, ,
x x
x
x f
x
x x
x x f
x
x h x

+ =
=
=
=
& & &
&
If a discontinuous v constrains the system onto the 2
nd
order manifold
Filippovs solution and the Equivalent Control coincide, and the control
u is continuous (Chattering attenuation)
0 = =
&
The control algorithms for Higher-Order Sliding Modes require
derivatives of
Relative
degree
Feedback signals
VSS controller
1
Classical 1-SMC, Super-Twisting ( ) s sign
2
( ) ( ) s sign s sign & ,
Twisting 2-SMC
( ) { } s sign s
&
,
Sub-optimal 2-SMC
3
s s
&
,
Any
r
Universal HOSM ) ( , ,..., ,
) 1 ( ) 2 ( r r
s sign s s s &
( ) ( ) ( ) s sign s sign s sign & & & , ,
Hybrid 3-VSC
Dynamic / Terminal 2-SMC
Dynamical sliding modes
( ) ( )
+ =
+ =
2
1
1 1
1
1
r
i
i
r
n
i i n
s s
x c x s

Starting from a classical sliding variable s, a new switching variable
is defined
Sliding mode is achieved asymptotically
Terminal sliding modes
odd , , 2 1

1
1
q p
q
p
s s
x c x s
q
p
n
i i n
< <
+ =
+ =

&
A nonlinear switching surface is defined
Sliding mode is achieved in finite time
Super-Twisting controller
( )
( )
( )
+
>
=
+ =

m
M
m
m
z
z u
2
2
4
sgn &
: upper bound of the drift term
m
,
M
: positive lower and upper
bounds of the gain term
-4 -3 -2 -1 0 1 2 3 4 5 6
-6
-4
-2
0
2
4
6
/
d
t
The control is continuous
( ) ( )u + = &
Suboptimal-controller
( ) ( )
( )
( )
( )
( )
[ )
( )
( )
|
|
\
|
+
+
+
+
>
<

=
=
;
1
1 2
; 1
1 ; 0
0
0 1
sgn

U
U
U
t
U t u
m
M
m
M M
M M
M
I
: upper bound of the drift term
m
,
M
: positive lower and upper
bounds of the gain term
The control is discontinuous
( ) ( )u + = & &
-6 -4 -2 0 2 4 6 8
-15
-10
-5
0
5
10
/
d
t
Suboptimal-controller
: anticipation factor
: modulation factor
U: control gain
-6 -4 -2 0 2 4 6 8
-15
-10
-5
0
5
10
/
d
t
=0.5
=07
( ) ( )
( )
( )
( )
( ) 1 ; 0
0
0 1
sgn
<

=
=

M M
M M
M
t
U t u
Universal quasi-continuous HOSM-controller
i=1, 2,.., n-1
Homogeneous nested implementations of discontinuous controllers
e
y

Final remarks
Sliding Modes are a usual behaviour in switching systems
Sliding Modes are a useful tool for controlling uncertain dynamical
systems
Switching control with Sliding Modes is a simple way of applying the
Internal Model Principle
By resorting to the Equivalent Control definition it is possible to
retrieve some information about an uncertain system by low-pass
filters
Ideal Sliding Modes are not implemented in practice because they
require infinite frequency switching, and only an approximate
sliding can be achieved
Higher Order Sliding Modes generalise the concept of sliding
modes to integral manifolds
Real Higher Order Sliding Modes improve the accuracy and
attenuate the chattering effect

Sliding Mode: Basic Theory and New Perspectives: Dept of Electrical and Electronic Eng

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Sliding Mode: Basic Theory and New Perspectives: Dept of Electrical and Electronic Eng

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SDS 2008 - Capitolo (BA) June 2008 1/54

Dept of Electrical and Electronic Eng.

the mass stops!

y y t y g t y & & &

the mass stops!

SDS 2008 - Capitolo (BA) June 2008 24/54

It is used when the discontinuity is due to switching of an independent

the sliding manifold is constituted by the intersection of m switching

The unstable zero-dynamics

SDS 2008 - Capitolo (BA) June 2008 34/54

SDS 2008 - Capitolo (BA) June 2008 54/54

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