Sliding Mode Control
Sliding Mode Control
Contents
1Introduction
2Control scheme
o 2.1Existence of closed-loop solutions
3Theoretical foundation
o 3.1Theorem 1: Existence of sliding mode
3.1.1Reachability: Attaining sliding manifold in finite time
3.1.1.1Explanation by comparison lemma
3.1.1.2Consequences for sliding mode control
o 3.2Theorem 2: Region of attraction
o 3.3Theorem 3: Sliding motion
4Control design examples
o 4.1Automated design solutions
5Sliding mode observer
6See also
7Notes
8References
9Further reading
Introduction[edit]
Figure 1: Phase plane trajectory of a system being stabilized by a sliding mode controller. After the
initial reaching phase, the system states "slides" along the line . The particular surface is chosen
because it has desirable reduced-order dynamics when constrained to it. In this case, the surface
corresponds to the first-order LTI system , which has an exponentially stable origin.