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Sliding Mode Control Using Novel Sliding Surfaces
Lecture Notes in Control and Information Sciences 392
AfterasurveypaperbyUtkininthelate1970s,slidingmodecontrolmeth- ologies emerged as an e?ective tool to tackle uncertainty and disturbances which are inevitable in most of the practical systems. Sliding mode control is a particular class of variable structure control which was introduced by Emel'yanov and his colleagues. The design paradigms of sliding mode c- trol has now become a mature design technique for the design of robust c- troller of uncertain system. In sliding mode technique, the state trajectory of the system is constrained on a chosen manifold (or within some neighb- hood thereof) by an appropriatecontrolaction. This manifold is also called a switching surface or a sliding surface. During sliding mode, system dynamics is governed by the chosen manifold which results in a well celebrated inva- ance property towards certain classes of disturbance and model mismatches. The purpose of this monograph is to give a di?erent dimension to sl- ing surface design to achieve high performance of the system. Design of the switching surface is vital because the closed loop dynamics is governed by the parameters of the sliding surface. Therefore sliding surface should be - signed to meet the closed loop speci?cations. Many systems demand high performance with robustness. To address this issue of achieving high perf- mance with robustness, we propose nonlinear surfaces for di?erent classes of systems. The nonlinear surface is designed such that it changes the system's closed-loop damping ratio from its initial low value to a ?nal high value.
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The main contribution of this book, i.e., introduction of the nonlinear sliding hypersurfaces, is combined with several other results recently obtained in the field of variable structure control systems. These include multi-objective sliding mode design, integral sliding mode control, composite nonlinear feedback and reaching phase elimination by the application of time-varying sliding hypersurfaces in continuous time systems. Furthermore, the use of the nonlinear sliding surfaces is combined with application of multi-rate output feedback in discrete time systems.
The results presented in this book are well worked out theoretically both for continuous and discrete time systems. They are also verified by a number of simulation case studies and laboratory experiments. Furthermore, some non-trivial extensions for the plants with saturating inputs, input delays and unmatched disturbances are also given in the text. This research monograph is of high reference value for researchers and PhD students working on various aspects of nonlinear, and in particular sliding mode control systems.
MathReviews (Reviewer: Andrzej Bartoszevicz)