SLIDING MODE CONTROL

Order of the motion

equation is reduced
Motion equation of sliding
mode is linear and
homogenous.
0 c c* Sliding mode does not
Motion Equation depend on the plant

x cx 0.
dynamics and is
determined by parameter
C selected by a designer.
 VSS in Canonical Space
( n 1)
x (n)
an x ... a2 x a1x bu,
ai , b are plant parameters , u is control input.
S.V. Emelyanov, V.A.Taran, On a class of variable structure control systems, Proc.
of USSR Academy of Sciences, Energy and Automation, No.3, 1962 (In Russian).
The methodology, developed for second-order
systems, was preserved:
- sliding mode should exist at any point of switching
plane, then it is called sliding plane.
- sliding mode should be stable
- the state should reach the plane for any initial
conditions.
VSS in Canonical Space

xi xi 1 i 1,..., n 1
n
xn ai xi bu,
i 1

ai , b are plant parameters , u is control input.

k1 if x1 s 0
u kx1 , k
k 2 if x1 s 0
n
s ci xi 0, ci const, cn 1.
i 1
 VSS in Canonical Space

Existence Conditions [Barbashin]

lim s 0, lim s 0, (But not ss 0 !!!):

s 0 s 0
ci 1 ai
cn 1 a n , i 2,..., n 1.
ci
Stability Condition
( n 1) ( n2)
x1 c x
n 1 1 ... c1 x1 0
 VSS in Canonical Space

k1 if x1 s 0
u kx1 , k
k 2 if x1 s 0
Theorem: a sliding plane with stable motion exists
if and only if there exists such k 0 , k 2 k 0 k1
that the linear system with control u k 0 x1
has ( n 1) eigenvalues with negative real parts.

Theorem: for the state to reach a switching plane from

any initial position it is necessary and sufficient that the
linear system with u k1 x1 does not have real
positive eigenvalues.
 VSS in Canonical Space
Example: 3-d Order System

x u, u kx,
1 if xs 0
k s c1 x c 2 x x
,
1 if xs 0
1. c1 c 2
2 sliding plane existence condition,

2. c1 0, c2 0 Hurwitz conditions for sliding mode

Complex eigenvalues only
3. The reaching condition holds since the linear system
with k 1 does not have real positive eigenvalues.
 VSS in Canonical Space
Time-Varying Parameters
ai , min ai (t ) ai , max i 1,...n.
n 1 k i ' if xi s 0
u ki xi , ki
i 1 k i " if xi s 0
bk i ' max (ci 1 ai cn1ci a n ci ),
ai ,an a0 0, i 1,..., n 1.
bk i " min (ci 1 ai cn1ci a n ci )
ai ,an

( inequalities only and arbitrary Ci )

 Disturbance Rejection
Example: 2-nd Order System
f(t) Disturbance

u y x1
Actuator Plant

Variable Structure
-ky
Actuator

-k
k0 if x1s 0 k y 0 if ys 0
x1 x2 k , ky ,
k0 if x1s 0 k y 0 if ys 0
x 2 kx1 k y x2 k y f f .
s cx1 x2 , k0 , k yo , c are const
Disturbance Rejection
State Plane, Time Domain

x1 cx1 0

x1 cx1 0
 Adaptive VSS

x b(t )u , The rate of decay in

sliding mode may be

bmin b(t ) bmax

increased by varying
the gain C depending
u kx, on b.
k1 if xs 0
k
k2 if xs 0
s x cx 0 bk 2 c bk1
2
Adaptive VSS, State Plane
E.N. Dubrovski, Adaptation principle in VSS, Proceedings of 2nd Bulgarian
Conference on Control, v.1, part 1, Varna, 1967 (In Russian).

While sliding mode exists the

gain C is increased until sliding
mode disappears.
VSS with Discontinuous
Trajectories
TWO APPROACHES:
xi xi 1 i 1,..., n 1
Switching surface with
xn f ( x1 ,..., xn , t , u, u,..., u ( k ) ) part of state components.
Pre-filters in controller.

N.E. Kostyleva, Variable structure systems for plants with

zeros in a transfer function, Theory and Application of
Control Systems, Nauka, Moscow, 1964 (In Russian).
Dubrovnik 1964 IFAC Sensitivity Conference
 SECOND STAGE
Finite Dimensional MIMO Systems

Disturbance

Output
Controller Plant
Reference
Input Control

x f ( x, t , u ) x R n uR m

ui ( x, t) if si ( x) 0
ui , i 1,..., m
ui ( x, t ) if si ( x) 0 u i ( x, t) u i ( x, t )
Multidimensional Sliding Modes
(Late Sixtieth)
s( x) 0, sT ( x) [ s1 ( x),..., sm ( x)], ( s 0) n m
 Mathematical Aspects I
Sliding Mode Equations
x1 a11x1 a12 x2 b1u d1 f (t )
u Msign (s), s c1x1 c2 x2 .
x2 a12 x1 a22 x2 b2u d 2 f (t )
Sliding Mode Equation on S=0 ???
x u, u u0 sign (s), s x cx x cx 0 WHY ???
1
b 0 x c c x
Yu. Kornilov (1950),
A. Popovski (1950) 1 2 2 1 1
1
x (a a c c ) x d1 f (t ).
1 11 12 2 1 1
Ya. Dolgolenko (1955)
x Ax bu, b (0,0,...,0,1).
T
 Mathematical Aspects I
Sliding Mode Equations (cont).

A.F. Filippov, Application of the theory of differential equations with discontinuous

right-hand sides to non-linear problems of automatic control, Proceedings of 1st IFAC
Congress in Moscow, 1960, Butterworths, London, 1961.
xn
f if s( x) 0 grad s
x f ( x), f ( x)
f if s( x) 0 s(x)=0 f Convex
fsm belongs to convex hull Hull
fsm
Yu.I. Neimark, Note on A. Filippovs paper,
x1
1st IFAC Congress.
dx/dt=Ax+bu+dv, f
u=-sign(s), v=-sign(s), Nonuniqueness !?
s=cx
 Regularization
A.A. Andronov (1954): Ideal relay is replaced by element
with delay and then the value of delay is tended to zero.
J. Andre and P. Seibert (1956): both delay and hysteresic.
u
M
3 s=a
-a 1 s=0
a s=-a
s
2
-M

Lim[x(a,t)]=solution to Filippovs equation

with parameter a tending to zero.
 Regularization sm ( x ) 0
Boundary Layer
x f ( x, u ),
x, f n , u ( x) m , boundary layer
s ( x)
u ( x) if s( x) 0 s1 ( x) 0

u ( x) state trajectory
u ( x) if s( x) 0 manifold s( x) 0

s( x) , s ( sT , s).
2

l i m x(t , ) x (t ) *
0
Equivalent Control Method

Affine system x f ( x, t ) B( x, t )u
Discontinuous control u enforces sliding mode in
manifold s=(s1,,sm )=0. det(GB) 0, G( x) {s x}.
Then solution to s Gf GBu 0, u = -(GB)-1 Gf .
eq
is substituted to system equation
x = f B(GB) Gf -1

s(x)=0 x2=s0(x1) x 2 , s 0 m x1 n -m :
x2 f1[ x1 , t , s0 ( x1 )], f1 nm .
E.C.M. is substantiated by boundary layer regularization
 Mathematical Aspects II
Sliding Mode Existence Conditions

Scalar Control: lim s 0 and lim s 0

s 0 s 0
Vector
Control s2=0 s=0
s1 (T ) 0, s2 (T ) 0
s1 (T ") 0, s2 (T ") 0 2

3 1 s1=0

s1 sign s1 2sign s2
s1 (0) 0
s2 2sign s1 sign s2 . s 2 ( 0) 0
sT ( x ) s1 x ,, sm x
s
G is m n matrix
x

Stability of the origin in subspace S

Motion Equation:
s Gf GBu
u x if s x 0
u Component-wise
u x if s x 0
s Rm , u Rm.
 Piece-Vise Lyapunov Functions I
Motion Equations: s2=0
s1(T ) 0, s2 (T ) 0
s1 sign ( s1 ) 2sign ( s 2 ), s1(T ") 0, s2 (T ") 0 2
s2 2sign ( s1 ) sign ( s 2 )
Lyapunov Function: 1 s1=0
3
V s T sign ( s ), s T ( s1 , s 2 ),
sign ( s1 )
sign ( s ) s1 (0) 0
sign ( s 2 )
s 2 ( 0) 0
Time Derivative:
V V
V s1 s2 2
s1 s 2 Sliding Mode Exists in s=0.
 Piece-Vise Lyapunov Functions II
Motion Equations:
s1 2sign ( s1 ) sign ( s 2 ),
s2 2sign ( s1 ) sign ( s 2 )
Lyapunov Function:
V s T Psign ( s ), s T ( s1 , s 2 ),
sign ( s1 ) 4 0

sign ( s )
, P .
sign ( s 2 ) 0 1
Time Derivative:
V V
V s1 s2 7 6sign ( s1 s 2 ) 0.
s1 s 2
 Existence Conditions
Lyapunov Approach
Stability in subspace s: s Gf GBu
Finite-Time Convergence !!!
Equivalent to Equation: s d ( x) D( x) sign ( s )
[ sign ( s)]T [ sign ( s1 ),..., sign ( s m )]
Theorem. If D DT
0 then there exists 0 0 such that
sliding mode exists in manifold s0 for 0.
The statement of the theorem may be proven using sum of
absolute values of si
V s sign ( s ) 0
T

as a Lyapunov function.
 Sliding Mode Control Design
Sliding Mode Equation x f [ x , t , s ( x )], f nm .
1 1 1 0 1 1
- is of reduced order
- does not depend on control
- depends on the equation of switching surfaces.

Design is decoupled into two independent subproblems:

- design of the desired dynamics for a system of the (n-m)-th
order by a proper choice of a sliding manifold s=0;
- enforcing sliding motion in this manifold which is
equivalent to stability problem of the m-th order system.
Sliding Mode Control Design
Invariance
x f ( x, t ) B( x, t )u h( x, t )
h( x, t ) is disturbance vector
h( x, t ) range( B)
Matching Condition

B. Drazenovic,
The invariance conditions
in variable structure
systems, Automatica, v.5,
No.3, Pergamon Press,
1969.
 Design, Regular Form
x1 f1 ( x1 , x2 , t ), x1 R n m
x2 f 2 ( x1 , x2 , t ) B2 ( x1 , x2 , t )u, x2 R m , det( B2 ) 0.

x2 s0 ( x1 ) - psuedo control
s( x1 , x2 ) x2 s0 ( x1 ) 0 - sliding manifold
x1 f1[ x1,s0 ( x1 ), t ] - sliding mode equation
depends neither f 2 ( x1, x2 , t ) nor B2 ( x1, x2 , t ) .
 Design, Frobenius Theorem
Reducing to Regular Form
(Loukyanov, 1981)
x1 f1 ( x1, x2 , t ) B1 ( x1 , x2 , t )u , x1 R n m
x2 f 2 ( x1 , x2 , t ) B2 ( x1, x2 , t )u , x2 R m , det( B2 ) 0.
Coordinate Transformation: y1 ( x), y1 , nm
,

y1 f Bu ,
x x t

B 0. Frobenius Theorem
x
Enforcing Sliding Modes
Finite time convergence in the subspace s:
s GB(u ueq ).
If GB (GB) 0 then there exists scalar function M ( x, t )
T

such that control u M ( x, t ) sign ( s ) enforces sliding mode

in manifold s=0.
General case: Transformation of discontinuity surfaces

u M ( x, t ) sign ( s*), s* (GB) s. T

M ( x, t ) ueq

Only upper estimate of equivalent control is needed

Matching Condition
Unit Control G.Leitmann,S.Gutman(1976)
sn x f Bu h h is disturbance.
s {s / x}( f h) Du D {s / x}B
s1 T
D s( x) Unit control,
u ( x, t ) T
, Continuous
D s( x) Except one
1 T point s ( x ) 0
V s s 0 Lyapunov function
2
V DT s( x) [ D 1{s / x}( f h) ( x, t )].
1
( x, t ) D {s / x}( f h) .
V 0
 A Little Fantasy
The evolution of state in dynamic systems x(t) is represented by
shift operator x(t)=F[x(0),t] with unique values for any time t .

The author of Minimum Principle Pontryagin mentioned in 1953 that the

systems with glued trajectories formally can not be called dynamic systems.
Indeed the point x(t1) can be reached from outside
tx 1 s=0 (point 1 and 2) and then in sliding mode, or in
x(t1)
3 sliding mode only (point 3). It means that family of
s=0 shift operators at the point x1 does not have inverse.
2 Then the family is called semigroup.
New Definition: the point of the system x(t ) F [ x, t ] is called sliding
mode point if the set F [ x, t ] constitutes a semigroup.

CHALLENGE: to create general sliding mode and sliding mode control

theory in terms of shift operators embracing all types of control systems.