SlidingModeControl
presentedbyDiptiJ.Karani
GuidedByDr.(J.M.Nair)
1
Agenda
• Background
• Variable Structure Systems
• Motivation
• Definition
• SMC Design Methodology
• Conditions for the Existence of a Sliding Mode
• Problem in SMC
2
Background
• TheoryfoundedSovietUnionasavariablestructure
controlsystem.
• firstappearedoutsideRussiainthemid1970swhen
abookbyItkis(1976)andasurveypaperbyUtkin
(1977)werepublishedinEnglish.
• “reachability”condition-Russianmathematician,
Lyapunov,andhistheoryofstabilityofnonlinear
systems.
3
Variable Structure Systems
• high-speedswitchingfeedbackcontrol
• Providesaneffectiveandrobustmeansof
controllingnonlinearplants
• drivethenonlinearplant’sstatetrajectory
ontoaspecifiedanduser-chosensurfacein
thestatespace
• maintaintheplant’sstatetrajectoryonthis
surfaceforallsubsequenttime.
4
Motivation
+
_
Plant
5