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Quasi-continuous high-order sliding-mode controllers

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1 Author(s)
Levant, Arie ; Sch. of Math. Sci., Tel-Aviv Univ., Israel

A universal finite-time-convergent controller is developed capable to control the output of any uncertain single-input-single-output system with a known permanent relative degree r. The tracking error σ is steered to zero by means of a control dependent only on σ, σ˙, ..., σ(r-1) and continuous everywhere except the set σ=σ˙=···=σ(r-1)=0. A robust output-feedback controller version provides for the tracking accuracy proportional to the sampling noise magnitude.

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Automatic Control, IEEE Transactions on  (Volume:50 ,  Issue: 11 )