ABSTRACT
This chapter discusses basic methods of the analysis and design of Variable Structure Systems (VSS) with sliding modes. The discussion on the VSS application will focus on switching converters and electrical drives—systems that structurally have discontinuous element—and on motion control systems. VSS are originally defined in continuous time for dynamic systems described by ordinary differential equations with discontinuous right-hand side. In such a system, the so-called sliding mode motion can arise. Despite the fact that in many such systems electrical machines are primary source of actuation and consequently power converters are used in their control structure, mechanical motion systems are mostly modeled with forces/torques as control input variables. The peculiarities of the structures are reflected on the mathematical description of the converters. The chapter outlines the main mathematical methods and sliding mode control design techniques and to demonstrate its applicability in power electronics and motion control systems.
