PSG COLLEGE OF TECHNOLOGY

Department of Instrumentation and Control Systems Engineering

NON-LINEAR CONTROL SYSTEMS

REACHABILITY CONDITION FOR SLIDING MODE CONTROL

By,
ALLAN ANBU
18MO01
ME Control Systems
5/18/2019 PSG COLLEGE OF TECHNOLOGY 1
OVERVIEW
• INTRODUCTION
• SLIDING MODE CONTROL
• MULTILAYER PERCEPTRON
• BACK PROPAGATION
• GENETIC ALGORITHM
• FORECASTING
• CONCLUSION
 INTRODUCTION
• Sliding mode control is a particular type of the
variable structure control system (VSCS),
which is characterized by a discontinuous
feedback control structure.
• Switches as the system crosses certain
manifold in the state space to force the system
state to reach, and subsequently to remain on
a specified surface within the state space
called sliding surface.
 CONTD.
• Sliding variable is a function of the states and
the sliding surface represents a relationship
between the state variables.
• System behaves as a reduced order system
with respect to the original plant.
• Sliding mode is insensitive to parameter
variations and also uncertainties,
disturbances.
 THEORY
• Consider the non-linear system
dx(t)/dt = f(t,x) + g(t,x)u(t)
• Where x(t) ɛ Ʀn, u(t) ɛ Ʀm, f(t,x) ɛ Ʀnxn, g(t,x) ɛ
Ʀmxm.
• The discontinuous control feedback is given as
 CONTD..
• To develop continuous functions ui+ , ui- and
sliding surface σ(x) = 0 so that the closed loop
system exhibits a sliding mode on (n-
m)dimensional sliding manifold σ(x) = 0.
• Design can be divided into two phases:
– Constructing a suitable sliding surface.
– Design of a discontinuous control law.
 EXISTENCE OF SLIDING MODE
• Existence of a sliding mode requires stability of the
state trajectory to the sliding surface σ(x) = 0.
• The system state must approach the surface at least
asymptotically. This region is called region of attraction.
• The existence problem can be seen as a generalized
stability problem, hence the second method of
Lyapunov provides a natural setting for analysis.
• Stability to the switching surface requires to choose a
generalized Lyapunov function V (t, x) which is positive
definite and has a negative time derivative in the
region of attraction.
LYAPUNOV FUNCTION
 SLIDING MODE
• For a (n-m) dimensional domain D to be the
domain of the sliding mode, V(t, x, σ) should be
continuously differentiable with respect to all its
arguments and satisfies the below conditions:
– V (t, x, σ) is positive definite with respect to σ, i.e., V
(t, x, σ) > 0, with σ ≠ 0 and arbitrary t, x, and V (t, x, 0)
= 0; and on the sphere |σ| = ρ.
– The total time derivative of V (t, x, σ) for the system
(2.1) has a negative supremum for all x ∈ Ω except for
x on the switching surface where the control inputs
are undefined, and hence the derivative of V (t, x, σ)
does not exist.
 REACHABILITY CONDITION
• A sliding mode is globally reachable if the
domain of attraction is the entire state space.
• The structure of the function V (t, x, σ)
determines the ease with which one
computes the actual feedback gains
implementing a sliding mode control design.
• Unfortunately, there are no standard methods
to find Lyapunov functions for arbitrary
nonlinear systems.
 CONTD..
• For single input systems, the Lyapunov function is
chosen as,
V (t, x) = 1 /2 σ 2 (x)
which is globally definite positive.
• In sliding mode control, σ˙ will depend on the control
and hence if switched feedback gains can be chosen so
that
V˙ (t, x, σ) = σ ∂σ /∂t < 0
• in the domain of attraction, then the state trajectory
converges to the surface and is restricted to the surface
for all subsequent time.
 FINITE TIME CONVERGENCE
• The condition can be replaced by ηreachability
condition where,
V˙ (t, x, σ) = σ ∂σ/ ∂t ≤ −η|σ| < 0
which ensures a finite time convergence.
• The time required to reach the surface,
starting from the initial condition σ[x(0)] is
bounded by,
ts = |σ[x(0)]|/ η
 REFERENCE
• Claudio Vecchio, “Sliding Mode Control:
theoretical developments and applications to
uncertain mechanical systems”, Università
Degli Studi Di Pavia Dipartimento Di
Informatica E Sistemistica.
THANK YOU!!!!