Analysis of Sliding Mode Controllers in the Frequency Domain
Conventional sliding mode control, studied in Chap. 2, and second-order sliding mode control (Chap. 4) are the most obvious choices in controlling systems with bounded matched disturbances/uncertainties. Sliding mode control laws allow us achieve to insensitivity of system’s compensated dynamics to these perturbations. The ultimate price for this insensitivity is a high-frequency (that is equal to infinity in an ideal sliding mode) switching control function that after being filtered by the plant yields self-sustained oscillations of almost zero amplitude. The main advantage of higher (second-)order sliding mode control is its ability to guarantee higher accuracy of the sliding variable stabilization at zero than conventional sliding mode control.
KeywordsRelative Degree Periodic Motion Describe Function Suboptimal Algorithm Conventional Slide Mode Control
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