Sliding modes and soft switching control in dynamic systems

This paper researches the synthesis of soft switching continuous controllers with nonlinear switching surfaces. These tracking control laws are found using the state variables and the tracking error. It is illustrated that robust tracking and stability are guaranteed for admissible disturbances, reference inputs and parameter variations. To verify the theoretical results, the motion control problem is solved for a class of nonlinear electromechanical systems driven by permanent-magnet synchronous motors. The dynamic systems studied are described by nonlinear differential equations with control bounds and parameter variations. The soft switching controllers are designed to guarantee soft switching sliding modes in the closed-loop systems, and robust stability and tracking, disturbance attenuation and robustness to parameter variations are ensured. Experimental verification was performed