Notes on VARIABLE STRUCTURE CONTROL

System x Ax bu
(1)
n
in which state x and input is scalar.
To apply variable structure control, first decide the sliding surface,
(2)
sT x
m
where because u is scalar, and
if A, b is in companion form. Here si's are arbitrary
sT s1 s2 s3 sn 1 1
positive constants. According to Lyapunov stability analysis,
V 12 2 0 0

(3)

V 0 for 0

For stability, V 0
or V 0 .
(4)
T

s x
(5)

sT Ax bu
Feedback Control On the sliding surface 0 , the time derivative is also zero or 0 .
Therefore, the equivalent control becomes (by considering (5) being equated to zero),

(6)
ueq sT b sT Ax
For regulatory control:
Let u k T x
(7)
T
where k will be the switching fain, then
sT x sT A bk T x
(8)
T
The switching gain k can be decided by using (4) & (8),
or sT A bk T x 0
(9)
T
The switching of gain k leads to switching control such that (4) is satisfied and on the
average 0 becomes the sliding surface along which the trajectory moves to origin of state space
as is desired.

Example 1 Consider an unstable second-order system,

1
3
0
x
x u .

7 5
8
Design a sliding mode controller that will set the closed loop trajectory upon s 1 0 .
This is already an unstable system in which A, b pair is not in companion form. Therefore, to
choose s in the expression of first choose and compute an eigen-vector from I Ax 0 .
Since the first element of the eigen-vector x will be 1 (as is usually chosen so), therefore this
becomes the last coefficient in the expression of . The last element of x becomes first coefficient
in the expression of . Thus, if the sliding surface corresponds to 2 , then in the present
situation I Ax 0 gives xT 1 5.
set s 5
or 5 1x
or 5x1 x2
Then, 5x1 x2 15x1 5x2 7 x1 5x2 8u 8x1 8u
Let u k1 k2 x
then 8k1 8x1 8k2 x2

 for V 0, 0
or 8k1 8x1 8k2x2 0
Thus, 8k1 8x1 0 gives,
k1 1 for x1 0

Phase-plane trajectory of VSC based second order closed loop system

4
3
2

State x2

k1 1 for x1 0
1
0
And 8k2x2 0 gives,
-1
k2 0 for x2 0
.
-2
k2 0 for x2 0
-3
So let
-4
k1 1 8signx1
-5
.
k2 8signx2
-6
0
0.2
0.4
0.6
0.8
1
1.2
1.4
State x1
Thus, the control law for regulation is,
u 1 8signx1 x1 8x2 signx2
Fig. 1 Phase-plane trajectory of Example 1.
The
closed
loop
system
becomes,
(vscnotes01.mdl in MATLAB)
3
1

T
x
x with 5x1 x2 and x0 1 4 .

7 16signx1 5 32signx2
Example 2 Consider the same second order system as in Example 1,
1
3
0
x
x u

7 5
8
y 1 0x
Design a sliding mode controller that will set the trajectory of error e yR y and its derivative to
s 1z 0 where zT e e.
This is a problem of servomechanism. Therefore, let z1 e yR y yR x1 .
z1 e y R x1 y R 3x1 x2 z2
or z1 y R 3 yR 3z1 x2 z2
then, z2 yR 3 y R 3z2 7 x1 5x2 8u
or z2 yR 3 y R 7 yR 7 z1 3z2 5 y R 3 yR 3z1 z2 8u
or z2 yR 2 y R 8 yR 8z1 2 z2 8u .
The error dynamics become,
0 1 0
0
0
0
z
z u yR y R yR

8 2 8
8
2
1
In this error dynamics, the A, b pair is in companion form, therefore, let 2 1z .
or 2 z1 z2 .
Then 2 z2 8z1 2 z2 8u 8 yR 2 y R yR
1
Let u yR 2 y R 8 yR 8 z1 k1 z1 k2 z2
8
then k1z1 k2 z2 .
for V 0, 0
or k1 z1 k2 z2 0 .

Thus, k1z1 0 gives,

k1 0 for z1 0

k1 0 for z1 0
And k2z2 0 gives,
Phase-plane trajectory of VSC based second order closed loop system
30

Phase-plane trajectory of VSC based second order closed loop system

40

20
20

10

State x2

State z2

0
-10
-20
-30

-20

-40

-40
-50

-60

-60
-70
-14

-12

-10

-8
-6
State z1

-4

-2

-80
0

6
8
State x1

10

12

14

Fig. 2 Phase-plane trajectories of Example 2: (a) error states z1 & z 2 , and

(b) system states x1 & x2 .

k2 0 for z2 0

.
k2 0 for z2 0
k1 10signz1
So let
.
k2 10signz2
Thus, the control law for servomechanism is
1
u yR 2 y R 8 yR 8 z1 10 z1signz1 10 z2 signz2
8
And the closed loop system description becomes, (vscnotes02.mdl in MATLAB)
0
0
1

0
3
0
0
x
x
z yR y R yR

7 5
2
8
8 10signz1 10signz2 1

with zT z1 z2 and 2 z1 z2 with x0 10 40 .

The trajectories are displayed in Fig. 2. Note that the trajectory shown in Fig. 2(a) is that of
error and its derivative that is, trajectory of z1 & z2 . Whereas the Fig. 2(b) shows the trajectory of
state variables x1 & x2 . It is also to note that as t , x1 1 and x2 0 complying with the unit
step reference input.
T

Example 3 Consider another second order system,

1
1
0
x
x u

10 6
4
y 1 0x
Design a sliding mode controller so that the closed loop system falls upon the sliding line
0 sx1 x2 .
Similar to the first example, sliding surface here corresponds to 1 (say).
I Ax 0 gives, xT 1 2 , s 2 .
sx1 x2 2 x1 x2 0 sliding line.

Phase-plane trajectory of VSC based second order closed loop system

4
3
2

State x2

Then, 2 x1 x2 2 x1 2 x2 10 x1 6 x2 4u
or 8x1 4 x2 4u
Let u k1 k2 x
then 4k1 8x1 4k2 4x2
for V 0, 0
or 4k1 8x1 4k2 4x2 0
Thus, 4k1 8x1 0 gives,
k1 2 for x1 0

k1 2 for x1 0
-1
And 4k2 4x2 0 gives,
-2
k2 1 for x2 0
.
k2 1 for x2 0
-3
0
0.2
0.4
0.6
0.8
1
1.2
1.4
State x1
So let
k1 2 12.5signx1
Fig. 3 Phase-plane trajectory of Example 3.
.
k2 1 12.5signx2
Thus, the control law for regulation is,
u 2 x1 12.5x1signx1 x2 12.5x2 signx2
The closed loop system becomes, (vscnotes011.mdl or vscnotes03.mdl in MATLAB)
1
1

T
x
x with 2 x1 x2 and x0 1 4 .

2 50signx1 2 50signx2
Thus the closed loop trajectory is evaluated based on the closed loop state dynamics and is
depicted by Fig. 3. This clearly shows how variable structure control works that it attracts the initial
states onto its surface and there by fully governs the final mode of the system (in this case s 2 ).
0

Example 4 Consider the same second order system as in Example 3,

1
1
0
x
x u

10 6
4
y 1 0x
Design a sliding mode control to set the closed loop error dynamics upon sliding line
s 1z 0 where zT e e.
This is a problem of servomechanism in which error e yR y and its dynamics are to be first
obtained. Therefore, let z1 e yR y yR x1 .
z1 e y R x1 y R x1 x2
or z1 y R yR z1 x2 z2
then, z2 yR y R z2 10 x1 6 x2 4u
or z2 yR y R 10 yR 10 z1 z2 6 y R yR z1 z2 4u
or z2 yR 5 y R 4 yR 4 z1 5z2 4u .
The error dynamics become,
1 0
0
0
0
0
z
z u yR y R yR

4 5 4
4
5
1
In this error dynamics, the A, b pair is in companion form, therefore, let 1 1z .
or z1 z2 .
Then z2 4 z1 5z2 4u 4 yR 5 y R yR 4 z1 4 z2 4u 4 yR 5 y R yR

1
yR 5 y R 4 yR 4 z1 4 z2 k1z1 k2 z2
4
then k1z1 k2 z2 .
for V 0, 0
or k1z1 k2z2 0
Thus, k1z1 0 gives,
k1 0 for z1 0
Let u

k1 0 for z1 0
And k2z2 0 gives,
k2 0 for z2 0
.
k2 0 for z2 0
So let
k1 50signz1
.
k2 50signz2
Thus, the control law for servomechanism is
1
u yR 5 y R 4 yR 4 z1 4 z2 50 z1signz1 50 z2 signz2
4
And closed loop system description becomes, (vscnotes021.mdl or vscnotes04.mdl in MATLAB)
0
0
1

0
1
0
0
x
x
z yR y R yR

10 6
5
4
4 50signz1 4 50signz2 1

with zT z1 z2 , z1 z2 and x0 2 4.
The trajectories are displayed in Fig. 4 below. As usual the trajectory shown in Fig. 4(a) is that
of error and its derivative. Whereas the Fig. 4(b) shows the trajectory of state variables x1 & x2 . It is
also to note that as t , x1 1 and x2 0 complying with the unit step reference input.
Phase-plane trajectory of VSC based second order closed loop system
40

35

30

25

State x2

State z2

Phase-plane trajectory of VSC based second order closed loop system

3

-1
-2

20
15

-3

10

-4

-5

-6
-2.5

-2

-1.5

-1

-0.5

-5
1

1.5

2.5

State z1

State x1

Fig. 4 Phase-plane trajectories of Example 4: (a) error states z1 & z 2 , and

(b) system states x1 & x2 .
Example 5 An unstable second order system is described by,
2 1
0
x
x u

4 2
8
y 1 0x

3.5

Design a sliding mode controller so that the closed loop response has e 5t as a mode.

k1 1.25 for x1 0
And 8k2 9x2 0 gives,
k2 1.125 for x2 0
.
k2 1.125 for x2 0
So let
k1 1.25 12.5signx1

State x2

Since the closed loop response is to have e 5t as a mode therefore the eigen-value should
be 5 . Then I Ax 0 gives xT 1 7 . Therefore the sliding surface is chosen as,
sx1 x2 7 x1 x2 0
Then, 7 x1 x2 14 x1 7 x2 4 x1 2 x2 8u
or 10 x1 9 x2 8u
Let u k1 k2 x
then 8k1 10x1 8k2 9x2
Phase-plane trajectory of VSC based second order closed loop system
4
for V 0, 0
2
or 8k1 10x1 8k2 9x2 0
0
Thus, 8k1 10x1 0 gives,
-2
k1 1.25 for x1 0
-4
-6
-8
-10
-12
-14
-16
0

0.5

1.5

2.5

State x1

.
k2 1.125 12.5signx2
Fig. 5 Phase-plane trajectory of Example 5.
Thus, the control law for regulation is,
u 1.25x1 12.5x1signx1 1.125x2 12.5x2 signx2
The closed loop system becomes, (vscnotes012.mdl or vscnotes05.mdl in MATLAB)
1
1

x
x with 7 x1 x2 and x0 2 4 .
14 100signx1 7 100signx2
Thus the closed loop trajectory of this regulation problem is shown in Fig. 5 which clearly
shows how variable structure control works to put the system onto the origin with e 5t as a modal
behaviour.
Example 6 Consider the same unstable second order system as in Example 5 which is rewritten
as,
2 1
0
x
x u

4 2
8
y 1 0x
Design a sliding mode controller for the closed loop error servomechanism dynamics to have e 8t as
a resulting modal behaviour.
For this servomechanism define error as z1 e yR y yR x1 and let
z1 e y R x1 y R 2 x1 x2
or z1 y R 2 yR 2 z1 x2 z2
then, z2 yR 2 y R 2 z2 4 x1 2 x2 8u
or z2 yR 2 y R 2 z2 4 yR 4 z1 2 y R 2 yR 2 z1 z2 8u
or z2 yR 4 y R 8 yR 8z1 4 z2 8u .
The error dynamics become,

 0 1 0
0
0
0
z
z u yR y R yR

8 4 8
8
4
1
In this error dynamics, the A, b pair is in companion form, therefore, let 8 1z .
or 8z1 z2 .
Then 8z2 8z1 4 z2 8u 8 yR 4 y R yR 8z1 12 z2 8u 8 yR 4 y R yR
1
Let u yR 4 y R 8 yR 8 z1 12 z2 k1 z1 k2 z2
8
then k1z1 k2 z2 .
for V 0, 0
or k1z1 k2z2 0
Thus, k1z1 0 gives,
k1 0 for z1 0
k1 0 for z1 0
Phase-plane trajectory of VSC based second order closed loop system
8

Phase-plane trajectory of VSC based second order closed loop system

4
2

0
-2

State x2

State z2

-4
-6

-8
-2

-4
-1.4

-10
-1.2

-1

-0.8
-0.6
State z1

-0.4

-0.2

-12
1

1.2

1.4

1.6
1.8
State x1

2.2

2.4

Fig. 6 Phase-plane trajectories of Example 6: (a) error states z1 & z 2 , and (b) system
states x1 & x2 .
And k2z2 0 gives,
k2 0 for z2 0
.
k2 0 for z2 0
So let
k1 50signz1
.
k2 50signz2
Thus, the control law for servomechanism is
1
u yR 4 y R 8 yR 8 z1 12 z2 50 z1signz1 50 z2 signz2
8
And closed loop system description becomes, (vscnotes012a.mdl or vscnotes06.mdl in MATLAB)
0
0

0
2 1
0
0
x
x
z yR y R yR

4 2
4
8
8 50signz1 12 50signz2 1

with zT z1 z2 , 8z1 z2 and x0 2 4 .

The trajectories are displayed in Fig. 6. The trajectory shown in Fig. 6(a) is that of error and its
derivative. Whereas the Fig. 6(b) shows the trajectory of state variables x1 & x2 . As usual the state

trajectory is shown on the right-hand side of Fig. 6 giving as t , x1 1 and x2 2

complying with the unit step reference input.
Example 7 Consider a typical second order system, whose transfer function is given by,
Y s 0.5s 4
. Design a variable structure control to set the states of the system to the origin

U s
ss 2
through modal behaviour et .
It is here proposed to first have
the signal flow graph from which
one may derive the state space
1 x
1
x1
description. So the signal flow graph
s 2
s
2
1
Y s is first drawn as shown below. The
U s
state dynamics may now be written
down as follows.
2
x1 x2 0.5u
Fig. 7 Signal flow graph representation of the given
x2 2x2 0.5u 2u
second order transfer function.
or x2 2 x2 u
Thus the state space description is finally written down as follows.
0 1
0.5
x
x u

0 2
1
0.5

or k1x1 k2 x2 0
Thus, k1x1 0 gives,
k1 0 for x1 0

State x2

y 1 0x
Next the procedure of designing of variable structure state feedback control is carried out in the
following. Let the sliding surface be s1 x1 s2 x2 0 in which s1, s2 0 are constants and these
may be chosen so that s1 s2 . Then,
Phase-plane trajectory of VSC based second order closed loop system
s1x1 s2 x2 s1x2 0.5s1u 2s2 x2 s2u
16
s1x1 s2 x2 s1 2s2 x2 0.5s1 s2 u
14
1
s 2s x k x k x
Let u
12
0.5s1 s2 1 2 2 1 1 2 2
10
for V 0, 0
8
6
4

2
k1 0 for x1 0
0
And k2x2 0 gives,
-2
-1
0
1
2
3
4
State x1
k2 0 for x2 0
.
Fig. 8 Phase-plane trajectory of Example 7.
k2 0 for x2 0
So let (with s1 5, s2 2.5 ),
k1 400signx1
.
k2 400signx2
The control law becomes u 0.2400 x1signx1 400 x2 signx2 .
The closed loop description may be written as, (vscofsecondordersystem6.mdl or vscnotes07.mdl)
40signx1 1 40signx2
x
x .
80signx1 2 80signx2

The phase-plane trajectory is shown in Fig. 8 in which the initial condition taken is xT 0 4 16 .
The trajectory clearly falls upon the sliding surface 5x1 2.5x2 0 .
Example 8 Consider the same system of Example 7 in which it is desired to set the output to a
step reference through a certain sliding mode.
To solve this servomechanism problem define error as z1 e yR y yR x1 and let
z1 e y R x1 y R x2 0.5u z2 0.5u
where z2 y R x2
then, z2 yR x2 yR 2 x2 u yR 2 y R z2 u yR 2 y R 2 z2 u
or z2 yR 2 y R 2 z2 u .
The error dynamics become,
0 1 0.5
0
0
z
z u y R yR

0 2 1
2
1
Let s1z1 s2 z2 0 in which s1, s2 0 are constants.
Then s1z1 s2 z2 s1z2 0.5s1u s2 yR 2s2 y R 2s2 z2 s2u
or s2 yR 2s2 y R s1 2s2 z2 0.5s1 s2 u
1
s y 2s2 y R s1 2s2 z2 k1z1 k2 z2
Let u
0.5s1 s2 2 R
for V 0, 0
or k1z1 k2 z2 0
Phase-plane trajectory of VSC based second order closed loop system
0

Phase-plane trajectory of VSC based second order closed loop system

16
14

-2

12
-4
-6

State x2

State z2

10

-8

8
6
4

-10
2
-12
-14
-1

0
-0.5

0.5
State z1

1.5

-2
-1

-0.5

0.5
State x1

1.5

Fig. 9 Phase-plane trajectories of Example 8: (a) error states z1 & z 2 , and

(b) system states x1 & x2 .
Thus, k1z1 0 gives,
k1 0 for z1 0

k1 0 for z1 0
And k2x2 0 gives,
k2 0 for z2 0
.
k2 0 for z2 0
So let (with s1 5, s2 2.5 ),

k1 2signz1

.
k2 20signz2
The control law becomes u 0.22.5 yR 5 y R 2 z1signz1 20 z2 signz2 .
The closed loop description may be written as, (vscofsecondordersystem7.mdl or vscnotes08.mdl)
0.2signz1 1 2signz1 0.5
0.25
z
z y R

yR .
0.5
0.4signz1 2 4signz1 1

The phase-plane trajectory is shown in Fig. 9 in which the initial condition taken is xT 0 2 16 .
The trajectory clearly falls upon the sliding surface 5x1 2.5x2 0 .