Proceedings of the 5" World Congress on Intelligent Control

and Automation, June 15-19,2004, Hangzhou, P.R. China '

A Control Scheme Based on Discrete Time-Varying

Sliding Surface for Position Control Systems*
Zhang Jinggang Zhang Yibo Chen Zhimei Zhao Zhicheng
(Dept. of Automation, Taipan Heavy Machinery Institute, 030024)
ip zhantz65@,163.com

Abstract-A sliding mode control scheme for second-order predetermined sliding surface by rotating. This robustness and
discrete system is proposed using the time-varying sliding surface the tracking performance are obtained. The result of
instead of the fixed sliding surface. The time-varying sliding simulation is ensured.
surface is designed first to pass arbitrary initial states, and
subsequently move towards a final sliding surface by rotating.
The sliding surface rotating procedures are presented in detail. 11. EXPONENT
REACHING
LAWFORSECOND-ORDER
DISCRETE
The proposed control scheme is applied to a position control SYSTEM
system. Simulation results show that the scheme provides high
performance dynamic characteristics, and is insensitive to Consider the following second-order linear system:
uncertainties including parameter variations and external x(k + 1) = h ( k ) +bu(k)+ d ( k ) (1)
disturbance in the whole control process.
where u(k) represents system input signal, d ( k )represents
Index Termsaliding mode control, time-varying sliding surface, extemal disturbance.
position control system The sliding surface is chosen as:
s(k) = cx(k) (2)
I . INTRODUCTION
where c E RIx2 is the parameter of the sliding surface.
Since the sliding mode can offer many good properties, The improved exponent reaching law is adopted to ensure
such as insensitivity to parameter variations, extemal the asymptotic stable of system [ 111. Suppose E = pls(k)l,
disturbance rejection, and fast dynamic response, many then the exponent reaching law tums into:
researchers have studied the sliding mode control in the past s(k + 1) = (1 - Sr - p r ) s ( k ) (3)
20 years. The motion of the control system employing sliding
mode control can be described as two phases: reaching and It is obviously that the sliding function s(k) will
sliding phase. The system state trajectory in the period of asymptotically stable when the condition -1 < 1 - 6z - p r < 1
time before reaching the designed sliding surface is called the is satisfied.
reaching phase, and in which there is a control action toward Compared with (I), equivalent control is obtained:
the sliding surface. Once the system state trajectory reaches u(k) = (cb)-'[(l- 6z - p r ) s ( k )- cAx(k)] (4)
the sliding surface, it stays on it and slides along it to state
origin. The system state trajectory sliding along the sliding The bound of disturbance is supposed known as U and
surface to origin is the sliding phase. The insensitivity of the U+D
D . Let V = - ,M=- , the additive control is
system to uncertainties including parameter variations and 2 2
extemal disturbance exists in the sliding phase, but not during chosen as: -V - A4 sgn[s(k)],and the control arithmetic tums
the reaching phase. In order to solve this problem, the into:
time-varying sliding surfaces are introduced [11-[SI. However,
u(k) = (cb)-l[(l-Sz-pr)s(k)-cAx(k)]
the characteristics usually cannot be guaranteed when the
sliding mode control algorithm is implemented on a digital -V - M sgn[s(k)] (5)
computer because the switching frequency is limited by the Substituting (5) into (1):
finite sampling rate. So it is necessary to design a discrete time (6)
sliding mode controller for a digitally controlled system. B e c a u ~ l f h ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ c ~ ~ ~
In this paper, the sliding mode control scheme based on is dominated by thed;ljs(&)wt.{RkelBasghfhr(PP#f~~totically
time-varying sliding surfaces is presented for second-order stable for linear discrete-time system is known as:
discrete-time systems. On 'the basis of studying a kind of If each eigenvalue breadth of
position control system [9][ IO], the modified exponent ( A + b ( ~ b ) - ' ( l - S r - p z ) - b ( c b ) - ~ c Ais) smaller than 1, the
reaching law is adopted to realize a step response. In this
scheme, the sliding surface is initially designed to pass
arbitrary initial states, and subsequently move towards a

* The research work is supported by Shanxi Nature Science Fund.

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0-7803-8273-01041$20.00 0 2 0 0 4 IEEE
system is asymptotically stable about the zero state, which is
the only stable state [lo].
111. ROTATING SLIDINGSURFACE
Suppose c = [c, 11, and the sliding surface is chosen as:
s(k) = c, (k)xl( k ) - x2 ( k ) , where c, ( k ) is a step h c t i o n
and it satisfies c, (0) = -x2 (0)/ x1(0) and c, ( k ) = c,
( k 2 n , where n is the time that the rotating of sliding
surface stopped).
Then the equivalent control (2) turns into:
u(k) = (cb)-'[(l-sz-p.r)s(k)-cAx(k)]
-v - M sgn[s(k)]
Substituting it into (1);
x(k + 1) = [ A +b(cb)-'c(l- sz -pz)-b(cb)-'
cAIx(k) - {V + M sgnb(Q1- 4 k ) )
It is obviously that the parameter c, should always satisfy
the condition: each eigenvalue breadth
( A + b(cb)-'(l - Sz - p z ) - b(cb)-'cA) should be smaller
than 1.
It should be especially noticed that the difference in the
choice of c,. between the second-order continues-time
system and the second-order discrete-time system. It should
satisfy the Lipschitzian, that is, c, > 0 , in continues-time
system; yet in discrete-time system, c, should satisfy the
convergent condition, which means that c, is not always
positive.
The algorithm of rotating sliding surface is outlined as
following:
(1) The final value c, is determined from the stable
condition. And c,(O) could be determined according to the
initial state: c, (0) = -x2 (0)/ x1(0) . If c, (0) could satisfied
the condition, then to the next step. Otherwise, that is to say, if
the initial state is not on the sliding surface, a sliding surface
could still be chosen as which could satisfy the asymptotic
stable condition and is nearer to the initial state, then to the
next step.
(2) The direction of rotating is determined from the values of
c , ( k ) , i.e. if c , ( k ) > c, , clockwise, and if c , ( k ) < c, ,
counter-clockwise.
(3) The surface is immediately rotating before the next sample
period. The value could either be added a fitted value simply,
or be obtained from the equation IC, (k)xl( k )+ x2(k)l= A
(where A is positive). When the second method is adopted,
the larger value of the two solutions of c, ( k ) is chosen as
the slop for clockwise, and the other for counter-clockwise.
(4) The rotating stops until c,. ( k ) =ce .
In addition, there may be two or more areas that satisfy
the asymptotic stable condition. If c, and c,(O) are in
different area, c,.(k) may enter the area of unstable (Fig.1).
To avoid this, c, should be chosen the same area with
c, (0) ; when the first scheme is adopted, a larger value should
be chosen (positive when counter-clockwise and clockwise
instead) to enforce c,(k) enters the other stable area.
Moreover, the first scheme is more available when disturbance
is excessive.
Unstable area
(7)
(8)
of
Fig. 1 Rotating sliding surface
N. &PLICATION EXAMPLE
Consider the linear system as follows:
x(k + 1) = Ax(k) + bu(k) + d(k) (9)
Supposed that the states track the command signal Xd ( k ) .
The error are defined as: e(k) = x ( k ) - x d ( k ) , then the state
equation of warp could be obtained as:
e(k + 1) = x ( k + 1) - xd ( k + 1)
=Ax(k)+bu(k)-Xd(k+l)
= A @ ) + A Xd ( k )+ h ( k )- Xd ( k + 1) (IO)
The sliding surface is chosen as:
s ( k ) = ce(k) (11)
Then s(k + 1) = ce(k + 1) = cAe(k) + CAXd ( k )
+cbu(k)- c Xd ( k + 1) (12)
The modified exponent reaching law is adopted [9],
s(k + 1) = qs(k),then the equivalent control is obtained:
u(k) = ( c b ) - ' [ q s ( k ) - c A x ~ ( k ) + c x ~ ( k + l ) - c A e ( k )(13)
]
The rotating sliding surface is introduced to enhance the
robustness, then the sliding surface turns into: s(k) = c,e(k) ,
then the equivalent control is obtained:
u(k) = (c,b)-'[qs(k)-c,AXd(k)+Cr Xd(k+1)]
- ( ~ , b ) - ' c , [ A e ( k ) + V + M ~ g n s ( k ) ] (14)
The above developed control strategy will be tested on the
real time control of a position control system. The structure of
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the system is given in Fig.2. And Fig.3 shows the equivalent
block diagram.
Then the state space representation of the system can be
written as follows:
I::::::[ =

where, mechanical time constant: TM = 0.039s ; Motor
transfer coefficient with null speed: K, = 1.25deg s - l JV,
1.1 I4.3V.
Suppose T is the sample period, then the discrete form
of the state equation can be written as:
The tracking simulation results are given in Fig.4 and Fig.5.
When the strategy based on modified exponent law with the
fixed sliding surface is adopted (5), and TIM turns into five
times, the simulation results are shown in Fig.5. When the
method of this paper is adopted, the results are shown in Fig.4.
We could see that the curves in Fig.4 are almost superposition,
which shows that the robustness of the system is obtained.

P Torque
w
M motor
Industrial
control
computer

I
I

~~~

Fig.3 System Block diagram

V . CONCLUSIONS a position control system. The simulation results have its

effectiveness.
In this paper, a discrete sliding mode control scheme with
time-varying sliding surface is proposed. The time-varying REFERENCES
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I , I I , . I I I

--- without perturbation I

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--- without perturbation

1.2 - - with perturbation

06

t(s)

Fig. 4
Position response curve
with the fixed sliding surface

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