Sliding mode control for non-linear systems with global invariance

Chieh-Li Chen, W. Y. Lin

Research output: Contribution to journalArticle

24 Citations (Scopus)


In the conventional sliding mode control, a discontinuous control signal is applied to achieve the sliding condition. This control makes the system invariant to parametric uncertainty and external disturbance, but also causes chattering. Modified approaches are introduced to eliminate chattering at the cost of the invariance property or accuracy. This paper describes the use of the concept of extended systems, such that a continuous control is obtained using a sliding mode control design scheme. A sliding surface is assigned so that the sliding mode motion will occur while the proposed control law is applied. This results in a system with global invariance.

Original languageEnglish
Pages (from-to)75-82
Number of pages8
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number1
Publication statusPublished - 1997 Jan 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering

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