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A constructive method for designing higher order sliding surfaces for single-input nonlinear system
Date Issued
01-01-2011
Author(s)
Abstract
In this paper, we present a constructive method for the design of any order sliding surface using the necessary conditions for the existence of sliding surfaces for single-input affine nonlinear control systems. These conditions are a set of PDEs whose general solution will help in arriving at the sliding surfaces. The constructive design procedure is demonstrated on the cart-beam system to obtain a third-order sliding surface and on the inertia wheel pendulum system to obtain a fourth-order sliding surface. We validate the fourth-order terminal sliding mode control on inertia wheel pendulum with experimental result. © 2011 IFAC.
Volume
44