Using interactive tools to teach/learn Sliding Mode Control

This paper presents an interactive graphical tool designed to illustrate, design and simulate a class of piecewise linear systems of ordinary differential equations appearing in Sliding Mode Control. The ultimate goal is to allow students to visualize the system evolution, while interacting with the system itself and several parameters. In this way, expertise can be obtained, as well as advancement in the understanding of the qualitative and quantitative system response. The application has been developed using Easy Java Simulations (EJS), which allows making easier programming and design combined with a precise integration procedure.