Design of sliding mode control systems with constrained inputs

In this paper, design of sliding mode control systems, inputs of which are constrained by saturation, is studied. First, for linear systems which satisfy some conditions, it is shown that appropriate bounded controllers guarantee that the systems are globally stabilized on the sliding mode. Next, a new method of designing nonlinear 'hypersurfaces' instead of the conventional hyperplanes as the switching surfaces is shown. The effectiveness of using them is shown by comparing with the cases in which the conventional hyperplanes are used.