Sliding Mode Control Lecture Notes by B.

Yao


Sliding Mode Control

First-Order Nonlinear Systems with Uncertainties

( , ) , ( , ) ( , ) ( , )
T
x f x t u f x t x t x t u = + = + A

(S1)
where
( , ): knownbasisfunctions
P
x t R e
: unknownweights
P
R u e
: A uncertain nonlinearity

Assumption:

{ }
min max
:
u
u u u u u eO < < (S2)


{ }
: ( , ) ( , ) x t x t o
A
AeO A A s (S3)

where
min max
, ,and ( , ) areknown x t u u o .

Objective:
Want ( ) ( ) or ( ) ( ) 0 as
d d
x t x t z x t x t t = .

Error Dynamics:


d d
T
d
z x x f u x
u x u
= = +
= + A +

(S4)
Sliding Mode Control Lecture Notes by B.Yao


Control Structure:

,
T
a s a d
u u u u x u = + = +

(S5)

( )
T T
s s
z u u u u u = + A + = + A +

(S6)
where

: parameter estimation error u u u =

Choose a bounding function such that
( , )
T
h x t u > + A

For example,
max min
( , ) ( , ) ( , )
T
h x t x t x t u u o = +


Ideal Sliding Mode Control (SMC) Law:

( )
( , ) sgn( )
s o
u h x t h z = + (S7)
where and

1 0
sgn( ) undetermined for 0
1 0
z
z z
z
>

= =

<

. (S8)

( , ) h x t
0
o
h >
Sliding Mode Control Lecture Notes by B.Yao


Theoretical Performance of Ideal SMC Law:
When z > 0,

T T
s o
T
o o
z u h h
h h h
u u
u
= + A + = + A
s + A s

(S9)
which indicates that z decreases with a rate no less than
o
h , and thus,
will reach 0 z = after a finite time
(0)
o
z
h
| |
s
|
\ .

When z < 0,

T T
o o
z h h h h u u = + A + + > + A + +

o
h > (S10)
which indicates that z increases and will reach to 0 z = after a finite time.
Note that the above conditions can be concisely described by:
sgn( )
o o
z z h z z h z s = (S11)

The above analysis shows that z reaches to zero in a finite time and stays at
zero thereafter, which is also called sliding mode. During the sliding mode,
0, 0 z z = = the control input for z staying at zero should be:
T
seq
u u = A

(S12)
which is the so-called equivalent control for the discontinuous ideal SMC
control law (S7). Note that
seq
u is not known in advance and is theoretically
obtained by the discontinuous control law (S7) switching at infinite fast.
Sliding Mode Control Lecture Notes by B.Yao


SISO Systems in Normal Form
System:

1 2
2 3
( )
T
n
x x
x x
x x u u
=

= + A +

,
| |
1
1
, ,
T
n
x x x
y x
=
=

(S12)
Objective:
Want ( ) as
d
y y t t .
Let
1 1
2 2
( 1)
( )
( )
( )
d
d
n
n n d
x x y t
x x y t
x x y t

=
=
=

(S13)
Error Dynamics:
(S14)

1 2
2 3
( ) ( )


n T n
n n d d
x x
x x
x x y u y u

= = + A +

Sliding Mode Control Lecture Notes by B.Yao


Step 1: Target Surface Design (or Sliding Surface)


1 1 1 1
( 1) ( 2)
1 1 1 1 1

n n n
n n
n
s x c x c x
x c x c x

= + + +
= + + +

(S15)

If we choose
1 2 1
, , ,
n
c c c

such that
1 2
1 1
n n
n
c c

+ + + is Hurwitz, then,
when the target surface is reached (i.e., 0 s = ),
1
( ) 0 x t

exponentially as
. For example, let


1
1
1 1
or
n
k n k
o n k n o
d
s x c C
dt

| |
= + =
|
\ .

(S16)

Step 2: Reaching Phase
Synthesize a control law such that s reaches to zero in a finite time and stay
on 0 s = thereafter. For this, note

1 1 1 1
( )
1 1 1 1
( )
1 1 2


n n n
n
n d n n
T n
d n n
s x c x c x
x y c x c x
u y c x c x u

= + + +
= + + +
= + A + + + +

(S17)


t
Sliding Mode Control Lecture Notes by B.Yao


Control Structure:

( )
1 1 2
,

a s
T n
a d n n
u u u
u y c x c x u

= +
= +

(S18)


T
s
s u u = + A +

(S19)
Ideal SMC Law:

( )
( , ) sgn( )
s o
u h x t h s = + (S20)
where
( , )
T
h x t u > + A

(S21)


o
s s h s s
(S22)
which will force s to zero in a finite time

2 1 o
s x x = +

1
x

2
x

0 s =
0
0, s s h > s

0
0, s s h < >

2 1 o
s x x = +

1
x

2
x

0 s =
0
0, s s h > s

0
0, s s h < >

Equivalent Control on
Sliding Surface:


0
T
seq
s
u u
=
= A

Sliding Mode Control Lecture Notes by B.Yao


Chattering Problem of Ideal SMC
In reality, we cannot have the perfect switching; then, the control will switch
between positive value and negative value and s behaves in a zig-zag way.


1
x

2
x

0 s =
0
0, s s h > s

0
0, s s h < >

1
x

2
x

0 s =
0
0, s s h > s

0
0, s s h < >

Sliding Mode Control Lecture Notes by B.Yao

Smoothed SMC
Instead of using sgn( ) z which causes control input chattering, let us try to use
some continuous functions to approximate it. For example:

( )
( , ) sat
: boundary layer thickness
s o
s
u h x t h
|
|
| |
= +
|
\ .




When which indicates that the system will reach the
boundary layer
{ }
s | s in a finite time and stay inside the boundary layer
thereafter as in the idle SMC law. Inside the boundary layer:
( )
T
o
T
o
s
s h h
h h
s s
u
|
u
|
= + A +
+
+ = + A

(S23)
which can be thought as having an equivalent proportional feedback gain of
, ,
o
s ss h s | > <

0
|
|
sgn( ) s
1
1
Sliding Mode Control Lecture Notes by B.Yao


o
s
h h
k
|
+
= for s dynamics. Thus, at the steady-state, the tracking error is
bounded by:

min
( ) ( )
( )
T
s
s
k
u + A
s


which can be made arbitrarily small by using a small enough boundary layer
thickness the smaller | is, the larger the resulting
s
k and the smaller the
above upper bound is. However, too small | may lead to a
s
k so large that the
resulting control law is so sensitive to measurement noise (thus control input
chattering) or excite the neglected high-frequency dynamics leading local
instability as in the idle SMC law. Therefore, in reality, there will be a trade-off
in selecting a suitable value for | .

Sliding Mode Control Lecture Notes by B.Yao


Unknown Input Gain

(S24)

Use the same sliding surface as in (S15):

( )
1 1 2
T n
d n n
s bu y c x c x u

= + A + + + +


Let us say:
{ }
( )
1 1 2
1

T n
a s a d n n
u u u u y c x c x
b
u

= + = +

(S25)

( )
1 1 2

( )

T n
a s d n n
T
a s
T
a s
s b u b u y c x c x
b b u b u
b u b u
u
u
u

= + A + + + + +
= + A + +
= + A +

Let h(x,t) be a bounding function that

( , )
T
a
h x t b u u > + A

(S26)
For example, ( , )
T
M M a
h x t b u u o = + + ,
max min M
u u u = ,
max min M
b b b =
1 2
min max


, 0
T
n
x x
x bu b b b u
=

= + A + < < <

Sliding Mode Control Lecture Notes by B.Yao

Then
min
( ( , ) )
sgn( )
o
s
h x t h
u s
b
+
= (S27)
guarantees that
min
( ) sgn( )
( )
T
a o
o o
b
ss s b u h h s
b
sh h h s h s
u o
(
= + A +

s + =

Sliding Mode Control Lecture Notes by B.Yao


Systems with Matched Uncertainties
Consider SISO only:


( ) ( )[ ( , , )]
( )
n
x f x g x u t x u
y h x x R
= + + A

= e

(S28)

where h, f, g are known functions and A is uncertain nonlinearity, bounded by:

( , , ) ( , ) , 1
o u u
t x u x t u o o o A s + < (S29)

Assume that the output y=h(x) has a relative degree of for the nominal
system x f g u = +

. Then, using the coordinate transformation introduced in

I/O feedback:

( )
( )
x
x

q
+
( (
=
( (
u

where
1
( )
( )
( )
( )
f
f
h x
L h x
x
L h x

(
(
(
=
(
(

and
( )
( ) 0
x
g x
x
cu
=
c



Sliding Mode Control Lecture Notes by B.Yao



1 2
=

2 3
=

( ) ( )
| |
| |
1 1
1
( ) ( )
( ) ( )( )
( ) ( )
f f
f g f
L h x L h x
x f x g x u
x x
L h x L L h x
u

c c
= = + + A
c c
= +
+ A

[ ( )] ( , ) x f g u f f
x x x
q
q q
cu cu cu
= = + + A = =
c c c

(S30)
1
y =

Objective:
( ) as
d
y y t t

Let:

1 1
2 2
( 1)
( )
( )
( )
d d
d
d
e y y y t
e y t
e y t

= =
=
=

1 2
2 3
1 ( )
( ) [ ] ( )
f g f d
e e
e e
e L h x L L u y t

=
=
= + + A

(S31)

Sliding Mode Control Lecture Notes by B.Yao


Step 1: Synthesize the switching function


1 1 1 1 1 1 1
1 2
( )
d d
s e k e k e k k e t
dt dt




(
= + + + = + + +
(

(S32)

which will be stable if
1 2
1 1
s k s k

+ + + is Hurwitz.

Step 2:
1 1 1 1
1 ( )
1 1 2
= ( ) ( )[ ] ( )
f g f d
s e k e k e
L h x L L h x u k e k e y t

= + + +
+ + A + + +

(S33)


( )
1 1 2
1
1
( ) ( )
( )
a s
a f d
g f
u u u
u L h x k e k e y t
L L h x

= +
(
= +

(S34)
Then
1
( )[ ]
g f s
s L L h x u

= + A

( )
1 1
1 1

g f s g f
g f s g f o u a s
ss sL L h u sL L h
L L h su s L L h u u


o o


= + A
(
s + + +

(S35)


Sliding Mode Control Lecture Notes by B.Yao



Let

1
1
( , )sgn( )
( )
s s
g f
u k x t s
L L h x

= (S36)

1
1
(1 )
s g f o u a u s
s u g f o u a
ss k s s L L h u s k
k s s L L h u

o o o
o o o

( s + + +

( = + +

Thus, by choosing
{ }
1
1
1
s s g f o u a
u
k L L h u

o o o
o

( > + +

(S37)

the existence of the sliding mode condition will be satisfied:

s
ss s o s


Again, to be able to implement the above sliding mode controller, it is
necessary to make sure all internal states are bounded as well. Thus, the
same as in the I/O feedback linearization, the proof of the bounded-input-
bounded-state stability of the internal dynamics is essential to complete the
overall design and analysis.