CHOICE OF DISCONTINUOUS CONTROL COMPONENT FOR ROBUST SLIDING MODE PERFORMANCE

The robustness properties of sliding mode behaviour are considered in terms of the choice of non-linear control structure. The performance of two classes of variable structure controllers in the presence of unmatched uncertainty is discussed. Criteria for suitable choice of a non-linear control structure are presented, and the concept of a performance sliding mode is introduced. A numerical example is given to illustrate the phenomenon described.