Sliding mode control

In control systems, Sliding Mode Control (SMC) is a nonlinear control method that alters the dynamics of a nonlinear system by applying a discontinuous control signal (or more rigorously, a set-valued control signal) those forces the system to "slide" along a cross-section of the system's normal behaviour. The state-feedback control law is not a continuous function of time. Instead, it can switch from one continuous structure to another based on the current position in the state space. Hence, sliding mode control is a variable structure control method. The multiple control structures are designed so that trajectories always move toward an adjacent region with a different control structure, and so the ultimate trajectory will not exist entirely within one control structure. Instead, it will slide along the boundaries of the control structures. The motion of the system as it slides along these boundaries is called a sliding mode and the geometrical locus consisting of the boundaries is called the sliding (hyper) surface. In the context of modern control theory, any variable structure system, like a system under SMC, may be viewed as a special case of a hybrid dynamical system as the system both flows through a continuous state space but also moves through different discrete control modes.

Unsourced material may be challenged and removed. In the early 1990s, a new type of sliding mode control, named terminal sliding modes (TSM) was invented at the Jet Propulsion Laboratory (JPL) by Venkataraman and Gulati. TSM is robust non-linear control approach. Sliding mode control (SMC) is a nonlinear control technique featuring remarkable properties of accuracy, robustness, and easy tuning and implementation. SMS systems are designed to drive the system states onto a particular surface in the state space, named sliding surface. In practical applications of sliding mode control, engineers may experience undesirable phenomenon of oscillations having finite frequency and amplitude, which is known as 'chattering'. Theoretically the ideal sliding mode implies infinite switching frequency. Sliding mode control is used now in the speed control of electric drive systems. It provides attractive features such as fast dynamic response, insensitivity to variations in plant parameters and external disturbance.  Sliding Mode Control (SMC) consists of an algorithm inherently robust to changes in the parameters, nonlinear models, external disturbances and uncertainty. It is used when the robustness requirement is of utmost importance in vehicle applications and in the presence of strong uncertainties. It consists of an algorithm inherently robust to changes in the parameters, nonlinear models, external disturbances and uncertainty. It is used when the robustness requirement is of utmost importance in vehicle applications and in the presence of strong uncertainties

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