A model following variable structure controller

A variable structure model following controller is proposed for a SISO (single-input, single-output) linear plant which is subject to parameter variations and/or input disturbances. The proposed method, based on the modified condition for the sliding mode, allows the designer to satisfy the requirements for speeding up the reaching phase and to reduce the control effort in the sliding mode. The problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.<>