Output Integral Sliding Mode Based Control

  • Leonid Fridman
  • Alexander Poznyak
  • Francisco Javier Bejarano
Part of the Systems & Control: Foundations & Applications book series (SCFA)


Here, the problem of the realization of integral sliding mode controllers based only on output information is discussed. The OISM controller ensures insensitivity of the state trajectory with respect to the matched uncertainties from the initial time moment. In the case when the number of inputs is more than or equal to the number of outputs, the closed-loop system, describing the output integral sliding mode dynamics, is shown to lose observability. For the case when the number of inputs is less than the number of outputs, a hierarchical sliding mode observer is proposed. The realization of the proposed observer requires a filtration to obtain the equivalent output injections. Assigning the first-order low-pass filter parameter small enough (during this filter realization), the convergence time and the observation error can be made arbitrarily small. The results obtained are illustrated by simulations.


Riccati Equation Sliding Mode Inverted Pendulum Negative Real Part Slide Mode Controller 
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Copyright information

© Springer Science+Business Media New York 2014

Authors and Affiliations

  • Leonid Fridman
    • 1
  • Alexander Poznyak
    • 2
  • Francisco Javier Bejarano
    • 3
  1. 1.Departamento de Ingeniería de Control y RobóticaUniversidad Nacional Autonoma de MexicoMexico CityMexico
  2. 2.Department of Control AutomaticoCentro de Investigacion y Estudios Avanzados (CINVESTAV)Mexico CityMexico
  3. 3.Department of Research and Posgraduates Studies (SEPI)ESIME Ticomán, Instituto Politécnico NacionalMexico CityMexico

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