Application oriented trends in sliding mode control theory

The presentation deals with the basic concepts, design and application aspects of sliding mode control. The major attention is paid to the chattering problem. It is shown that chattering caused by unmodelled dynamics may be eliminated in systems with asymptotic observers. The chattering suppression methods are illustrated for sliding mode control design, intended for electric drives, based on reduced order models. The concept “discrete-time sliding mode” is developed for systems with digital controllers to design systems with motions free of chattering