Variable Structure Control

2 IEEE TRANSACTIONSON INDUSTRIAL ELECTRONICS,VOL. 40, NO. 1, FEBRUARY 1993 Variable Structure Control: A Survey John Y. Hung, Member, IEEE, Weibing Gao, SeniorMember, IEEE, and James C. Hung, Fellow, IEEE Abstract-A tutorial account of variable structure control with brief discussions about its historical development are pre- sliding mode is presented in this paper. The purpose is to sented. introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control sys- A. The Basic Notion of VSC tem design approach. This approach is particularly attractive The basic idea of VSC was originally illustrated by a for the control of nonlinear systems. Prominent characteristics such as invariance, robustness, order reduction, and control second-order system [431, [ 1541 similar to the following chattering are discussed in detail. Methods for coping with X=y chattering are presented. Both linear and nonlinear systems are considered. Future research areas are suggested and an exten- +U 2y -x

References: M. Aicardi, G. Bartolini, and G. Casalino, “Dynamic control of Automat., Phoenix, AZ, 1989, pp Motion Control, 1990, pp. 703-708. trollers,” Proc. IEE, Pt. D , vol. 128, no. 5, pp. 269-279, 1981. pp. 287-293, 1973. vol. 39, no. 6, pp. 1339-1349. alleviation of variable structure systems control,” IEE Proc., Pt. -, “Decentralized PD controller for tracking control of uncer- D , vol. 137, no. 1, pp. 31-39, 1990. tain multivariable systems,” in Proc. IFAC Identification and Y. H. Chan, “On the deterministic performance of uncertain System Parameter Estimation, 1985, York, UK, 1985, pp 1907-1911. 1986. 1985. Sinica, Series A , vol. 10, no. 3, pp. 126-133 (in Chinese), 1989. mation, 1985, York, UK, pp. 1895-1899. Motion Control, 1990, pp. 719-722. tem,” IEEE Trans. Auto. Contr., vol. AC-26, no. 5, pp. 1139-1144, Lett., vol structure control of nonlinear multivariable systems: A tutorial,” 559-568, 1984. Proc. IEEE, vol. 76, no. 3, pp. 212-232, 1988. Contr. Optim., vol. 21, pp. 246-255, 1983. UK, 1985, pp. 1901-1905. systems,” Int. J . Syst. Sci., vol. 20, no. 12, pp. 2471-2481, 1989. pp. 65-82, 1986. 42-62, 1986. .. Y , 1986 Authorized licensed use limited to: College of Engineering - Trivandrum. Downloaded on October 27, 2009 at 01:50 from IEEE Xplore. Restrictions apply. systems,” Automatica, vol. 5, pp. 287-295, 1969. uncertain dynamical systems,” SIAM J . Contr. Optimization, vol. T. A. W. Dwyer, 111, and H. Sira-Ramirez, “Variable-structure 20, no. 6, pp. 850-861, 1982. T. A. W. Dwyer, 111, H. Sira-Ramirez, S. Monaco, and S. Stornelli, Conf. Decision and Control, Athens, Greece, pp. 312-316, 1986. Control, 1987, 1281-1287. Trans. Ind. Electron., vol. IE-32, no. 3, pp. 238-244, 1985. S. V. Emelyanov, Variable Structure Control Systems. Moscow: H. Hashimoto and F. Harashima, “Variable structure strategy in Nauka (in Russian), 1967 (in Russian), 1970. H. Hashimoto, V. I. Utkin, J. X. Xu, H. Suzuki, and F. Ha- J hydroelectric power station using variable structure control sys- IEEE Ind. Electron. Conf. ’90, 1990, pp. 34-39. tems,” Automatica, vol. 10, pp. 31-36, 1974. H. Hashimoto, H. Yamamoto, S. Yanagisawa, and F. Harashima, H systems by state space techniques,” JACC, pp. 572-581, 1968. approach,” IEEE Trans. Industry Applications, vol. 24, no. 1, pp. M. D. Espana, R. S. Ortega, and J. J . Espino, “Variable structure 160-170, 1988.