Constructing discontinuity surfaces for variable structure systems: A Lyapunov approach

The problem of constructing discontinuity surfaces in variable structure systems is studied from a Lyapunov point of view. A switching surface determined by the control coefficient matrix and the associated Lyapunov function is able to ensure asymptotic stability for the system in sliding mode. The proposed method may also be used for systems with nonlinear dynamics and for linear systems with delays.

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