Sliding Mode Multimodel Control

Abstract

Sliding Mode Control is a powerful nonlinear control technique that has been intensively developed during the last 35 years [1],[2]. The sliding mode controller drives the system state to a ‘custom-built’ sliding (switching) surface and constrains the state to this surface thereafter. A system motion on a sliding surface, named a sliding mode, is robust with respect to matched disturbances and uncertainties but may be sensitive to unmatched ones. The sliding mode design approach usually consists of two steps [1],[2]. First, the switching surface is designed such that the system motion on the sliding mode satisfies design specifications. Second, a control law is designed making the switching surface attractive to the system state.