Application of the sliding surface to generic model control

This paper analyzes generic model control (GMC) from the phase space perspective in order to accommodate a performance surface in the controller design. This allows one to use the same switching and performance surfaces to guarantee robust stability while the system tracks a desired reference signal. The resulting surface is the sliding surface and demands an excessive action of the manipulated variable. A boundary layer defined around such a surface eliminates this undesirable behavior and ensures stability in the closed loop response. This new technique is called sliding generic model control (SGMC) and is applied to a CSTR showing the advantages of using this technique