ABSTRACT
Sliding mode control of finite-dimensional systems is known to guarantee a certain degree of robustness with respect to uniformly bounded unmod-
326 Y. ORLOV
eled dynamics. Since the sliding mode equation is control-independent, the approach based on the deliberate introduction of sliding motions into the control system splits the control problem into two independent problems of lower dimensions. We will design, firstly, a discontinuity manifold with prescribed dynamic properties of the sliding motion and, secondly, a discontinuous control that ensures the sliding motion on this manifold. Apart from decoupling of the original control problem, the sliding mode approach makes the closed-loop system insensitive with respect to matched disturbances. Due to these advantages and simplicity of implementation, sliding mode controllers are widely used in various applications. An overview of finite-dimensional sliding mode control theory and applications can be found in [29].
