The design of a Second-Order Sliding Mode Controller is discussed and guidelines are given for tuning. The robustness to unmodeled dynamics and parameter-errors is investigated and tested in an experimental case study. The experimental results, as far as robustness to unmodeled dynamics is concerned, are not better than for a traditional PD-controller. When robustness to parameter-errors is concerned the Second-Order Sliding Mode Controller performs slightly better.

Issue Section:
Technical Briefs
Topics:
Control equipment, Robustness, Dynamics (Mechanics), Errors, Design
1.
Blom, A., 1993, “Robustness of a Second Order Sliding Mode Controller,” Masters thesis, Eindhoven University of Technology, Department of Mechanical Engineering, WFW Report 93.007.
2.
Chang, L.-W., 1990, “A MIMO Sliding Control with a Second-Order Sliding Condition,” ASME WAM, paper no. 90, WA/DSC-5, Dallas, Texas.
3.
Elmali
H.
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Olgac
N.
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1992
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Robust Output Tracking Control of Nonlinear MIMO Systems via Sliding Mode Technique
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Automatica
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28
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145
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151
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4.
Isidori, A., 1989, “Nonlinear Control Systems: An Introduction,” Berlin: Springer-Verlag.
5.
Utkin
V. I.
,
1977
, “
Variable Structure Systems with Sliding Modes
,”
IEEE Transactions on Automatic Control
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AC-22
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222
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 by The American Society of Mechanical Engineers
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