Conclusions

Abstract

Sliding mode control is well known to be a robust and computationally efficient regulation technique which may be applied to nonlinear and possibly time-varying plants. Therefore, the proper design of the sliding mode controllers has recently become one of the most extensively studied research topics within the field of control engineering. This design process usually breaks into two distinct parts: in the first part the switching surface is selected, and in the second one the control signal which always makes the system representative point approach the surface is chosen. Once the representative point hits the surface, then under the same control signal, the point remains on the surface. Thus, the switching surface fully determines the system dynamics in the sliding mode and should be carefully selected by the system designer.