Sliding surface design in the frequency domain

  • Hideki Hashimoto
  • Yusuke Konno
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 193)


We have proposed a new method of sliding surface design using the frequency domain. Through the simulation of an elastic joint manipulator, the efficiency of the approach has been demonstrated. For the H norm it is easy to assign the sliding mode dynamics from a frequency specification of the reference response. If we have a priori information of any resonance modes, we obtain better performance using an observer which estimates the resonance modes. However, the problem of optimal observer design has yet to be fully solved.


Riccati Equation Slide Mode Control Resonance Mode Linear Quadratic Variable Structure Control 
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© Springer-Verlag London Limited 1994

Authors and Affiliations

  • Hideki Hashimoto
  • Yusuke Konno

There are no affiliations available

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