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1、328IEEETRANSACTIONSONCONTROLSYSTEMSTECHNOLOGY,VOL.7,NO.3,MAY1999AControlEngineer'sGuidetoSlidingModeControlK.DavidYoung,SeniorMember,IEEE,VadimI.Utkin,SeniorMember,IEEE,andUmit¨Ozg¨uner,¨Member,IEEEAbstractÐThispaperpresentsaguidetoslidingmodecontrolSMCforcontrolengineer
2、s.Itisourgoaltoaccomplishtheseforpracticingcontrolengineers.Itoffersanaccurateassessmentobjectives:oftheso-calledchatteringphenomenon,catalogsimplementable·provideanaccurateassessmentofthechatteringphenom-slidingmodecontroldesignsolutions,andprovidesaframeofreferenceforf
3、utureslidingmodecontrolresearch.enon;·offeracatalogofimplementablerobustslidingmodecon-IndexTermsÐDiscrete-timesystems,multivariablesystems,troldesignsolutionsforreal-lifeengineeringapplications;nonlinearsystems,robustness,sampleddatasystems,singularlyperturbedsystems,un
4、certainsystems,variablestructuresystems.·initiateadialogwithpracticingcontrolengineersonslidingmodecontrolbythreadingthemanyanalyticalunderpinningsofslidingmodeanalysisthroughaseriesI.INTRODUCTIONofdesignexercisesonasimple,yetillustrativecontrolURINGthelasttwodecadessinc
5、ethepublicationoftheproblem;DsurveypaperintheIEEETRANSACTIONSONAUTOMATIC·establishaframeofreferenceforfutureslidingmodeCONTROLin1977[1],significantinterestonvariablestruc-controlresearch.turesystems(VSS)andslidingmodecontrol(SMC)hasTheflowofthepresentationinthispaperfollow
6、sthechrono-beengeneratedinthecontrolresearchcommunityworldwide.logicalorderinthedevelopmentofVSSandSMC:FirstOneofthemostintriguingaspectsofslidingmodeistheweintroduceissueswithincontinuous-timeslidingmodeindiscontinuousnatureofthecontrolactionwhoseprimarySectionII,thenin
7、SectionIII,weprogresstodiscrete-timefunctionofeachofthefeedbackchannelsistoswitchbetweenslidingmode,(DSM)followedwithsampleddataSMCdesigntwodistinctivelydifferentsystemstructures(orcomponents)inSectionIV.suchthatanewtypeofsystemmotion,calledslidingmode,existsinamanifold.
8、ThispeculiarsystemcharacteristicisII.CONTINUOUS-TIMESLIDINGMODEclaimedtoresultinsuperbsystemperformance
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