PRESENTED BY

ARINDAM KISKU

Sliding Mode Control-
An Introduction

Outline
What is this Sliding Mode and how did its study
start ?
How to design a controller using this concept ?

First Formal steps
The first steps of sliding mode control Theory
originated in the early 1950s initiated by S.V.
Emelyanov.

Started as VSC Variable Structure Control
i.e. Varying system structure for stabilization.




Variable Structure Control-
Constituent System
Model 2
Model 1
Piecing together
Model 3
Properties of VSC
Both constituent system were oscillatory ( i.e. model-
1 & model-2 ) and were not asymptotically stable.

Combined system is asymptotically stable
( i.e. model- 3 ).

Property not present any of the constituent system is
obtain by VSC.
Another Example Unstable Constituent System
Model 1 Model 2
Analyses-
Both system were unstable.
Only stable mode is one mode of system
where


If the following VSC is employed






Combine:- model-1 & model- 2
In these case.
Again property is no present in the constituent
systems is found in the combined system.
A stable system can be obtain by varying between
two unstable structures.
However, a more interesting behavior can be
observed if we use a different switching logic
The Regions
Sliding Mode
New trajectory that was not present in any of the two original
systems
Sliding Mode ?
Defined : Motion of the system trajectory along a
chosen line/plane/surface of the state space.

Sliding Mode Control : Control designed with the
aim to achieve sliding mode.
. Is usually of VSC type
. Eg: Previous problem can be perceived as
0
sgn( )
x x u
u xs x

o
+ =
=
What is the advantage ?
Consider a n-th order system represented in the
phase variable form



Also consider the sliding surface defined as
1
1 1
, 1, 2, , 1
i i
n n n
x x i n
x a x a x bu
+
= =
= + + +
1 1 2 2 1 1
1 1 2 2 1 1
1
1 2 2 3 2 1 1
1
0
T
n n n
n n n
n
n n n n i i
i
s c x c x c x c x x
x c x c x c x
x c x c x c x c c x

=
= = + + + + =
=
= +

Advantage.
Thus entire dynamics of the system is govern by the
sliding line/surface parameters only



In sliding mode, dynamics independent of system
parameter (a1,a2).


1
1
1 2 2 3 2 1 1
1
, 1, 2, , 1
i i
n
n n n n i i
i
x x i n
x c x c x c x c c x
+

=
= =
= +

Required Properties

Sliding mode should have the following properties-
1) System stability confined to sliding surface.
(unstable sliding mode is NOT sliding mode at all)
2) Sliding mode should not take forever to start.


Stable Surface
Consider the system


If the sliding surface is designed as
then confined to the surface ( ) ,
the dynamics of can be written as
1 11 1 12 2
2 21 1 22 2
x A x A x
x A x A x Bu
= +
= + +
| |
1
2
1
T
x
s K c x
x
(
= =
(

1 2
0 s Kx x = + =
1
x
( )
1 11 1 12 2 11 12 1
x A x A x A A K x = + =
The Surface
If K is so designed that has eigenvalues on
LHP only , then the dynamics of is stable.
Since , the dynamics of is also stable.
Hence sliding surface is designed as , the
system dynamics confined to s=0 is stable.
(Requirement 1)
Note :It is not necessary for s to be a linear function of x.
( )
11 12
A A K
1
x
1 2
0 Kx x + =
2
x
1 2
T
s Kx x c x = + =
References
V. Utkin, Variable Structure Systems with Sliding
Mode, IEEE Trans. Automat. Contr., AC-12, No.
2, pp. 212-222, 1977
Discrete-time Sliding Mode Control by Bijnan
Bandyopadhyay & Janardhanan Sivaramakrishnan.
Introduction to Control System by D.K. Anand &
R.B. Zmood.