TABLE OF CONTENTS

Page
ABSTRACT i
TABLE OF CONTENTS ii
LIST OF FIGURES iii
CHAPTER
1. INTRODUCTION
2. VARIABLE STRUCTURE SYSTEMS
3. SLIDING MODE CONTROL (SMC)
. MODEL FOLLO!ING SMC
". CHATTERING PROBLEM IN SMC AND REMEDIES
#. BOUNDS OF UNCERTAINTY $ ADAPTIVE CONTROL
%. NEED FOR FULL STATE VECTOR AND USE OF OBSERVER
&. INVARIANCE AND MATCHING CONDITIONS $ BAC'STEPPING
(. CURRENT DEVELOPMENTS IN SMC APPLICATIONS
1). CONCLUSION
REFERENCES
ABSTRACT
Variable structure control was first proposed and elaborated in the early 1950s in
the Soviet Union by Emelyanov and several co-researchers Variable structure systems
has been a sub!ect of intense theoretical research at the "nstitute of #ontrol Sciences of
the erstwhile USS$ %cademy of Sciences since the be&innin& of 19'0s "n their pioneer
wor(s) the plant considered was a linear second-order system modeled in phase variable
form Since then) VS# has developed into a &eneral desi&n method bein& e*amined for a
wide spectrum of system types includin& nonlinear systems) multi-input+multi-output
systems) discrete-time models) lar&e-scale and infinite-dimensional systems) and
stochastic systems ,he most distin&uished feature of VS# is its ability to result in very
robust control systems- the system is completely insensitive to parametric uncertainty and
e*ternal disturbances or .invariant/ ,he slidin& mode 0S1#2 is the ma!or mode of
operation in variable structure systems
1ost of the real life processes in mechanical) electrical) aerospace en&ineerin&
and other areas when characterised by differential e3uations have discontinuity ,he
discontinuity is due to certain peculiarities in the system behavior ,he simplest case is
the #oulomb friction in mechanical systems which is not defined in points where velocity
e3uals 4ero "f such discontinuities are deliberately introduced on certain surfaces in the
system state space) then motions is a slidin& mode may occur in the system ,he
discontinuous nature of the control action in the feedbac( channels results in switchin&
between two distinctively different system structures 0or components2 such that a new
type of system motion) called slidin& mode) e*ists in a manifold ,his results in superb
system performance which includes insensitivity to parameter variations) and complete
re!ection of disturbances ,he variations of dynamic characteristics of the control plant
pose a central problem in automatic control ,hus) discontinuous control systems
provides an effective tool for solvin& control problems for comple* dynamic plants ,his
means unli(e continuous systems with non-measurable disturbances where the condition
of invariance re3uires use of infinitely hi&h &ains) discontinuous systems re3uire use of
finite control &ains 5rom a technolo&ical point of view also) the increasin& use of electric
inertia-less actuators built around power electronics which operate in a switchin& mode
only naturally favors use of discontinuous control al&orithms over employin& continuous
control al&orithms where the control is shaped as a hi&h fre3uency discontinuous si&nal
whose mean value is e3ual to the desired continuous control
6owever there are many problems faced in the attempt to employ the properties
of slidin& modes for the desi&n of automatic control systems Various publications on the
matter show diverse viewpoints leadin& to diverse slidin& mode e3uations ,his paper is
an attempt to survey the current developments vis-7-vis remedies to the problems in
S1#