Variable Structure Control and Performance Comparison

Abstract The focus of this paper is to present a synthesised procedure for the design of state feedback and static output feedback sliding mode controller for a linear time-invariant system. The simulation of numerical examples illustrates the robustness of the derived control scheme with respect to matched uncertainties. Despite the interesting performances of Variable Structure Control (VSC), the chattering phenomenon due to high frequency switching in the VSC controller is highly undesirable in most process applications. This paper also presents the reaching law method for the design of VSC systems which reduces chattering. Two kinds of reaching laws are considered: the constant plus proportional rate law, and the power rate law. The boundary layer controller is also investigated. In each case, experimental results with a high-accuracy positioning system driven by a DC motor are presented.

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