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Dynamics of a sliding control with a first-order plus integral sliding condition

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Dynamics and Control

Abstract

Sliding control consists of ans dynamics and an error dynamics where thes dynamics filters the uncertainties. The filtered uncertainties are further filtered by the error dynamics to obtain a desired system response. Thes dynamics rejects the uncertainties and affect the system response significantly. In this article, a SISO sliding control enhances the control of thes dynamics, and the desired system response may be obtained with a straight-forward tuning procedure. The dynamics of the sliding control is analyzed, and a tuning mechanism is presented. Thes dynamics is derived from a first-order plus integral sliding condition. The lower bound of the damping ratio and the equivalent spring constant in thes dynamics are two control parameters. The bandwidth of thes dynamics is determined by the selection of the equivalent spring constant, and the thickness of the boundary layer is controlled by the choice of the lower bound of the damping ratio. The integral ofs in thes dynamics guarantees zero steady-states, and therefore zero steady-state error is warranted.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Naval Postgraduate School, 93943, Monterey, CA

    Liang-Wey Chang

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  1. Liang-Wey Chang
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Editor: H. Flashner

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Chang, LW. Dynamics of a sliding control with a first-order plus integral sliding condition. Dynamics and Control 2, 201–219 (1992). https://doi.org/10.1007/BF02169497

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  • DOI: https://doi.org/10.1007/BF02169497

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