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Universal single-input-single-output (SISO) sliding-mode controllers with finite-time convergence

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1 Author(s)
Levant, Arie ; Inst. for Ind. Math., Beer-Sheva, Israel

An universal controller is constructed, formulated in input-output terms only, which causes the output of any uncertain smooth single-input single-output (SISO) minimum-phase dynamic system with known relative degree to vanish in finite time. This allows exact tracking of arbitrary real-time smooth signals. Only one parameter is to be adjusted. Since the approach is based on higher order finite time-convergence sliding modes, the control can be made arbitrarily smooth, providing for the arbitrarily-high tracking-accuracy order with respect to the sampling step

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Automatic Control, IEEE Transactions on  (Volume:46 ,  Issue: 9 )