Sliding mode control and its modification

Abstract

The paper describes design of sliding mode control. The advantage of this control algorithm is a high robustness, simplicity, and the fact that it does not need knowledge of a mathematical model, only the control system’s order and the ability to measure control disturbances. The disadvantage is a high control activity, which is not useful for all types of control elements. Further there is description of the primary approach to sliding control design, which consists in the extension of nonlinear sliding control of an integration element. For the stabilization task this algorithm will significantly lower the activity of a control variable while maintaining its robustness. In case of following the state trajectory the activity of a control variable will also lower, if the change in the required trajectory is not to fast.