ON THE DYNAMIC SLIDING MODE CONTROL OF NONLINEAR-SYSTEMS

The consequences of the differential algebraic approach in the sliding mode control of nonlinear single-input single-output systems are revi ewed in tutorial fashion. Input-dependent sliding surfaces, possibly i ncluding time derivatives of the input signal, are shown to arise natu rally from elementary differential algebraic results pertaining to the Fliess's Generalized Controller Canonical Forms of nonlinear systems. This class of switching surfaces generally leads to chattering-free d ynamically synthesized sliding regimes, in which the highest time deri vative of the input signal undergoes all the bang-bang type discontinu ities. Examples illustrating the obtained results are also included.