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R e c e n t A d v a n t a g e s O f S l I d I n g M o d e C o n t r o l

R e c e n t A d v a n t a g e s O f S l I d I n g M o d e C o n t r o l Europian Embedded Control Insttitute SUPELEC March 19-23, 2012.

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R e c e n t A d v a n t a g e s O f S l I d I n g M o d e C o n t r o l

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  1. R e c e n t A d v a n t a g e s O f S l I d I n g M o d e C o n t r o l Europian Embedded Control Insttitute SUPELEC March 19-23, 2012

  2. - Introduction (prehistory)- Discrete-time sliding modes- Observers and estimators- Chattering problem - High order sliding modes

  3. Introduction of Sliding Mode Control First Stage – Control in Canonical Space

  4. Upper semi-plane : Lower semi-plane : •After sliding mode starts, further motion is governed by Sliding Mode • In sliding mode, • the system motion is • governed by 1st order equation (reduced order). • depending only on ‘c’ not plant dynamics. m n Sliding Mode Equation Introduction of Sliding Mode Control ■ Concept of Sliding Mode ( Second order relay system ) • State trajectories are towards the line switching line s=0 : sliding mode •State trajectories cannot leave and belong to the switching line s=0 : sliding mode equation

  5. Trajectories should be oriented towards the switching surface R

  6. Introduction of Sliding Mode Control ■ Concept of Sliding Mode ( Variable Structures System ) 1 2 2 1 State planes of two unstable structures

  7. •After sliding mode starts, further motion is governed by 2 1 • In sliding mode, • the system motion is • governed by 1st order equation (reduced order). • depending only on ‘c’ not plant dynamics. 1 2 State planes of Variable Structure System Introduction of Sliding Mode Control • If c<c0, the state trajectories are towards the line switching line s=0 : sliding mode •State trajectories cannot leave and belong to the switching line s=0 : sliding mode equation

  8. Dubrovnik 1964 IFAC Sensitivity Conference

  9. Dubrovnik 1964 IFAC Sensitivity Conference

  10. Dubrovnik 1964 IFAC Sensitivity Conference

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