DESIGN OF VARIABLE-STRUCTURE CONTROLLERS WITH CONTINUOUS SWITCHING CONTROL

A modified variable structure controller is proposed to deal with the control chattering problem which is one of the major difficulties for implementing the variable structure control (VSC). The new control str ategy is effective for a class of uncertain nonlinear dynamical system s. Based on a suitably designed sliding sector, a continuous switching controller whose control structure is switched, whereas the control s ignal at switching remains continuous, is constructed. The complete at tractiveness and the stability properties of the sliding sector, in th e sense of Lyapunov stability, ensure the retention of benefits achiev ed with the conventional VSC. Some typical examples are also investiga ted which show the improvement of system performance.