Optimal sliding mode design for motion control

Motion control has been a fruitful ground for applying variable structure systems (VSS) theory. This paper provides an assessment of the state of the art of the relevant theoretical results for motion control, and through a number of control design problems (namely classical, discrete-time, observer based discrete-time and frequency shaped discrete-time sliding mode control) demonstrates the practical use of sliding mode in solving a number of critical design problems which are universal to both motion control and robotic manipulator control. Experimental results of a transputer-controlled single-degree-of-freedom motion-control system are presented