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Sliding Manifold Design for Higher-order Sliding Mode Control of Linear Systems
Boban Veselic,Cedomir Milosavljevic,Branislava Drazenovic,Senad Huseinbegovic 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.8
The paper considers sliding manifold design for higher-order sliding mode (HOSM) in linear systems. In this case, the sliding manifold must meet two requirements: to achieve the desired dynamics in HOSM and to provide the appropriate relative degree of the sliding variable depending on the SM order. It is shown that in the case of single-input systems, a unique sliding manifold can be determined that satisfies these two requirements, whereas in multi-input case, such a manifold exists only in systems satisfying specific structural constraints. Theoreticallyobtained results are validated through numerical examples and illustrated by digital simulations.