On Robust VSS Nonlinear Servomechanism Problem

  • Vadim Utkin
  • B. Castillo-Toledo
  • A. Loukianov
  • O. Espinosa-Guerra
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 274)


Analogously to the formulation of the so-called classical servomechanism problem, the problem of tracking a reference signal while rejecting the effect of a disturbance signal by means of the VSS technique is studied by formulating the sliding mode servomechanism problem for which conditions for the existence of a solution for in general case and for a classes of nonlinear system presented in the Regular Form or in the Nonlinear Block Controllable Form are derived. The effectiveness of the proposed method is demonstrated by the application to the Pendubot system.


Nonlinear System Sliding Mode Slide Mode Controller Variable Structure System Asymptotic Tracking 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2002

Authors and Affiliations

  • Vadim Utkin
    • 1
  • B. Castillo-Toledo
    • 2
  • A. Loukianov
    • 2
  • O. Espinosa-Guerra
    • 2
  1. 1.Department of Electrical EngineeringOhio-State UniversityColumbusUSA
  2. 2.Centro de Investigación y de Estudios Avanzados del IPNGuadalajara, JalMéxico

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