AfterasurveypaperbyUtkininthelate1970s,slidingmodecontrolmeth- ologies emerged as an e?ective tool to tackle uncertainty and disturbances which are inevitable in most of the practical systems. Sliding mode control is a particular class of variable structure control which was introduced by Emel’yanov and his colleagues. The design paradigms of sliding mode c- trol has now become a mature design technique for the design of robust c- troller of uncertain system. In sliding mode technique, the state trajectory of the system is constrained on a chosen manifold (or within some neighb- hood thereof) by an appropriatecontrolaction. This manifold is also called a switching surface or a sliding surface. During sliding mode, system dynamics is governed by the chosen manifold which results in a well celebrated inva- ance property towards certain classes of disturbance and model mismatches. The purpose of this monograph is to give a di?erent dimension to sl- ing surface design to achieve high performance of the system. Design of the switching surface is vital because the closed loop dynamics is governed by the parameters of the sliding surface. Therefore sliding surface should be - signed to meet the closed loop speci?cations. Many systems demand high performance with robustness. To address this issue of achieving high perf- mance with robustness, we propose nonlinear surfaces for di?erent classes of systems. The nonlinear surface is designed such that it changes the system’s closed-loop damping ratio from its initial low value to a ?nal high value.

AfterasurveypaperbyUtkininthelate1970s,slidingmodecontrolmeth- ologies emerged as an e?ective tool to tackle uncertainty and disturbances which are inevitable in most of the practical systems. Sliding mode control is a particular class of variable structure control which was introduced by Emel’yanov and his colleagues. The design paradigms of sliding mode c- trol has now become a mature design technique for the design of robust c- troller of uncertain system. In sliding mode technique, the state trajectory of the system is constrained on a chosen manifold (or within some neighb- hood thereof) by an appropriatecontrolaction. This manifold is also called a switching surface or a sliding surface. During sliding mode, system dynamics is governed by the chosen manifold which results in a well celebrated inva- ance property towards certain classes of disturbance and model mismatches. The purpose of this monograph is to give a di?erent dimension to sl- ing surface design to achieve high performance of the system. Design of the switching surface is vital because the closed loop dynamics is governed by the parameters of the sliding surface. Therefore sliding surface should be - signed to meet the closed loop speci?cations. Many systems demand high performance with robustness. To address this issue of achieving high perf- mance with robustness, we propose nonlinear surfaces for di?erent classes of systems. The nonlinear surface is designed such that it changes the system’s closed-loop damping ratio from its initial low value to a ?nal high value.

AfterasurveypaperbyUtkininthelate1970s,slidingmodecontrolmeth- ologies emerged as an e?ective tool to tackle uncertainty and disturbances which are inevitable in most of the practical systems. Sliding mode control is a particular class of variable structure control which was introduced by Emel’yanov and his colleagues. The design paradigms of sliding mode c- trol has now become a mature design technique for the design of robust c- troller of uncertain system. In sliding mode technique, the state trajectory of the system is constrained on a chosen manifold (or within some neighb- hood thereof) by an appropriatecontrolaction. This manifold is also called a switching surface or a sliding surface. During sliding mode, system dynamics is governed by the chosen manifold which results in a well celebrated inva- ance property towards certain classes of disturbance and model mismatches. The purpose of this monograph is to give a di?erent dimension to sl- ing surface design to achieve high performance of the system. Design of the switching surface is vital because the closed loop dynamics is governed by the parameters of the sliding surface. Therefore sliding surface should be - signed to meet the closed loop speci?cations. Many systems demand high performance with robustness. To address this issue of achieving high perf- mance with robustness, we propose nonlinear surfaces for di?erent classes of systems. The nonlinear surface is designed such that it changes the system’s closed-loop damping ratio from its initial low value to a ?nal high value.

In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design. Sliding mode control theory seeks to produce controllers to over some such mismatches. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of state-space methods. From this basis, more advanced theoretical results are developed. Two industrial case studies, which present the results of sliding mode controller implementations, are used to illustrate the successful practical application theory.

"Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation" takes readers through the basic concepts, covering the most recent research in sliding mode control. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time sliding mode control, discrete time sliding mode control, fuzzy sliding mode control, neural sliding mode control, backstepping sliding mode control, dynamic sliding mode control, sliding mode control based on observer, terminal sliding mode control, sliding mode control for robot manipulators, and sliding mode control for aircraft. This book is intended for engineers and researchers working in the field of control. Dr. Jinkun Liu works at Beijing University of Aeronautics and Astronautics and Dr. Xinhua Wang works at the National University of Singapore.

Many of the chapters in this book are based on expansions of selected presentations from the 8th IEEE International Workshop on Variable Structure Systems VSS'04, which was held in Barcelona, Spain in September 2004. The editors have tried to identify the key contributions from this workshop, which define the state-of-the-art, represent new directions building on existing work, and highlight new emerging application areas.

The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Robust control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications. The present volume addresses a range of sliding mode control issues, including: *Conventional sliding mode controller and observer design *Second-order sliding mode controllers and differentiators *Frequency domain analysis of conventional and second-order sliding mode controllers *Higher-order sliding mode controllers and differentiators *Higher-order sliding mode observers *Sliding mode disturbance observer based control *Numerous applications, including reusable launch vehicle and satellite formation control, blood glucose regulation, and car steering control are used as case studies Sliding Mode Control and Observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems, while being of interest to a wider audience of graduate students in electrical/mechanical/aerospace engineering and applied mathematics, as well as researchers in electrical, computer, chemical, civil, mechanical, aeronautical, and industrial engineering, applied mathematicians, control engineers, and physicists. Sliding Mode Control and Observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory.