A Versatile Sliding Control with a Second-Order Sliding Condition

A SISO versatile sliding control with auto-tuning capability is developed that allows for utilization of a low-pass filter for a second-order s dynamics and a high-pass (or band-pass) filter for an error dynamics in series. The control places zeros within the error dynamics and applies a second-order sliding condition. The increased number of control parameters enriches the tuning ability through which the system performance can thus be improved.