1

A SURVEY
SYSTEM CONTROL METHODS GENERALLY
INCORPORATE SOME TYPE OF
DISTURBANCE WAVEFORM MODELING.
CONSIDERING THAT THE DISTURBANCE
WAVEFORM IS COMPLETELY UNKNOWN,
A DISTURBANCE CHARACTERIZATION OF
THE WAVEFORM IS ASSUMED.
THIS ASSUMPTION IS USUALLY MADE ON
A WORST CASE BASIS TO ENSURE
STABILITY OF THE TARGETED SYSTEM.

CLASSICAL AND MODERN CONTROL THEORY
INCORPORATES WAVEFORM
CHARACTERIZATION OF DISTURBANCES WITH
AND WITHOUT WAVEFORM STRUCTURE.
MODERN CONTROL THEORY IS CENTERED
AROUND MODELING THE DISTURBANCE TO
EITHER COMPLETELY REJECT, MINIMIZE, OR TO
EVEN UTILIZE THE DISTURBANCE IN
CONTROLLING SYSTEM BEHAVIOR.
IN ALL OF THESE CIRCUMSTANCES IT IS
NECESSARY TO MODEL THE WAVEFORM.

SLIDING MODE CONTROL DOES NOT REQUIRE A
DISTURBANCE WAVEFORM CHARACTERIZATION
TO IMPLEMENT THE CONTROL LAW.
THE MAIN ADVANTAGE OF SLIDING MODE
CONTROL (SMC) IS THE ROBUSTNESS TO
UNKNOWN DISTURBANCES.
REQUIRED KNOWLEDGE OF THE DISTURBANCE
IS LIMITED TO THE DISTURBANCE BOUNDARY.
TRADITIONAL SMC WAS, HOWEVER, LIMITED BY
A DISCONTINUOUS CONTROL LAW.
DEPENDING ON THE PLANT DYNAMICS, HIGH
FREQUENCY SWITCHING MAY OR MAY NOT BE
AN ISSUE TO CONTEND WITH.
THERE ARE TECHNIQUES TO LIMIT AND
ELIMINATE THE HIGH-FREQUENCY SWITCHING
ASSOCIATED WITH TRADITIONAL SMC.
[3] John Y. Hung, Weibing Gao, James C. Hung, Variable Structure Control: A Survey
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 40, NO. 1, FEBRUARY 1993.
A GENERAL DESIGN METHOD BEING
EXAMINED FOR A WIDE SPECTRUM OF
SYSTEM TYPES INCLUDING
NONLINEAR SYSTEMS,
MULTI-INPUT/MULTI-OUTPUT SYSTEMS,
DISCRETE-TIME MODELS,
LARGE-SCALE AND INFINITE-DIMENSIONAL
SYSTEMS, AND
STOCHASTIC SYSTEMS
THE MOST DISTINGUISHED FEATURE OF VSC IS ITS
ABILITY TO RESULT IN VERY ROBUST CONTROL
SYSTEMS

THE SYSTEM IS COMPLETELY INSENSITIVE TO
PARAMETRIC UNCERTAINTY AND EXTERNAL
DISTURBANCES OR INVARIANT.

THE SLIDING MODE (SMC) IS THE MAJOR MODE OF
OPERATION IN VARIABLE STRUCTURE SYSTEMS.
SURVEY PAPERS

V. I. UTKIN, VARIABLE STRUCTURE SYSTEMS WITH
SLIDING MODES, IEEE TRANS. AUTOMAT. CONTR., VOL.
AC-22, PP. 212222, 1977.

JOHN Y. HUNG, WEIBING GAO, JAMES C. HUNG,
VARIABLE STRUCTURE CONTROL: A SURVEY IEEE
TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 40,
NO. 1, FEBRUARY 1993.

K. DAVID YOUNG, VADIM I. UTKIN, UMIT OZGUNER, A
CONTROL ENGINEERS GUIDE TO SLIDING MODE
CONTROL, IEEE TRANSACTIONS ON CONTROL SYSTEMS
TECHNOLOGY, VOL. 7, NO. 3, MAY 1999.
INTRODUCTION
RESEARCH PAPERS

ISSUES STUDIED INCLUDE
EXISTENCE OF THE SLIDING MODE
STABILITY OF THE SLIDING MODE
EFFECTS OF SYSTEM PARAMETER PERTURBATIONS
AND OUTSIDE DISTURBANCES AND
STUDY OF SYSTEMS HAVING UNMEASURABLE
STATE VARIABLES.
INTRODUCTION
[3] John Y. Hung, Weibing Gao, James C. Hung, Variable Structure Control: A Survey IEEE
TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 40, NO. 1, FEBRUARY 1993.
DESIGN OF VSC

CHOOSING A SET OF SWITCHING SURFACES
THAT REPRESENT SOME SORT OF A DESIRED
MOTION

DESIGNING A DISCONTINUOUS CONTROL
LAW SUCH THAT THE SYSTEM
TRAJECTORIES ARE CONFINED TO THE
SWITCHING SURFACES
SHORTCOMINGS OF SMC OR DIFFICULTIES
IN ARRIVING AT AN IDEAL SLIDING
MODE
INTRODUCTION
CLASSIFICATION
CHATTERING PROBLEM IN SMC AND
REMEDIES
REACHING PHASE AND ITS ELIMINATION
NEED FOR BOUNDS OF UNCERTAINTY -
ADAPTIVE CONTROL
NEED FOR FULL STATE VECTOR AND USE OF
OBSERVER

INVARIANCE AND MATCHING CONDITIONS
TIME DELAY CONTROL AND INERTIAL DELAY
CONTROL
CURRENT DEVELOPMENTS IN SMC
APPLICATIONS
CONCLUSION
REFERENCES
MODES

CONTINUOUS-TIME SLIDING MODE
DISCRETE TIME SLIDING MODE AND
SAMPLED DATA SLIDING MODE
[3] K. David Young, Vadim I. Utkin, Umit Ozguner, A Control Engineers
Guide to Sliding Mode Control, IEEE TRANSACTIONS ON CONTROL SYSTEMS
TECHNOLOGY, VOL. 7, NO. 3, MAY 1999.
METHODS

CONVENTIONAL SLIDING SURFACE WITH
OR WITHOUT MODEL FOLLOWING.

Sx o =
DYNAMIC SLIDING SURFACE WITH OR
WITHOUT MODEL FOLLOWING.
CLASSIFICATION
T
T T
a
B x z
z B Ax B u
o
-
= +
=
WITH INITIAL CONDITION
(0) (0)
T
z B x =
DURING THE INITIAL STAGES OF SLIDING
MODE CONTROL THEORY DEVELOPMENT,
CHATTERING WAS THE MAIN OBSTACLE
FOR ITS IMPLEMENTATION
CHATTERING IS A HARMFUL
PHENOMENON
LEADS TO LOW CONTROL ACCURACY
HIGH WEAR OF MOVING MECHANICAL PARTS
HIGH HEAT LOSSES IN POWER CIRCUITS.
TWO REASONS
DUE TO FAST OR UNMODELED DYNAMICS
SWITCHING DELAYS OR DISCRETISATION
CHATTER
sgn( )
n
u SB o =
REMEDIES

BOUNDARY LAYER CONTROL [3].
SUPER TWIST DESIGN
OBSERVER BASED SMC [5] [6].
DISTURBANCE COMPENSATION [7].
ACTUATOR BANDWIDTHS [8] [9].
FREQUENCY SHAPING [10].
SAT FUNCTION
SHORTCOMINGS: REALISTIC PARASITIC DYNAMICS INSIDE BL [4]
IT HAS BEEN SHOWN (NOT IN THIS BRIEF) THAT THE
SOLUTION TO THE FOLLOWING DIFFERENTIAL
EQUATION

AND ITS DERIVATIVE CONVERGE TO ZERO IN FINITE
TIME IF
,

ON THIS BASIS u IS INTRODUCED AS:






o o | o o o d sign sign u ) ( ) (
2 / 1
}
+ =
L 2 / 1 > o
L 4 > |
L t s ) (
) ( ) ( ) (
2 / 1
t d z sign z sign z z t | o = + +
}

SUPERTWIST UTILIZES THE SAME SLIDING

SURFACE AND VALUES AS THE TRADITIONAL
SMC. THE SIGNUM CONTROL FUNCTION IS
REPLACED WITH THE FUNCTION:






o o | o o o d sign sign u ) ( ) (
2 / 1
}
+ =
L 2 / 1 > o L 4 > |
. ) (
) 3 ( )) ( ( ) ) ( (
: yields ) (
with ng substituti and Eq(2) of inequality the to (1) Eq. Applying
(2) 0

(1) ) (
) (
: yields solving and into ng substituti and ating Differenti

: follows as
designed is and as introduced is variable sliding auxiliary new A

0
1 1

o
o

+ > s
+ s + =
+
> <
+ =
+ + = + =
+ = + =
= > + =
+ = = + =
L and L where
s wsign L s w s s s
s wsign L
s s s
w s
w v v z s
z s
w v z and z s
s
) ( and v , K v -K v
v where ) ( v, bu, bu ) (

). (

obtain filter to pass - low a of means by filter

to necessary is it of switching frequency - high the remove To
). ( and 0 surface sliding in the mode sliding the of existance
indicates which Eq.(3) as same the is which ) s s( ) ) ( s(
then ) (
)) ( ( ) ) ( (
then
(4)
: as selected is SMC If
eq
=
= =
s s +
s +
+ s +
+ =

w w
w
w s
s s w
s )sign(s)) (L s(
s sign )sign(s) L-(L s )sign(s) -(L s
)sign(s) -(L w
w
eq

TRADITIONAL SMC.
HIGH FREQUENCY SWITCHING CONTROLLER.
SIMPLE CONTROLLER DESIGN.
HIGH QUALITY CONTROL.
SUPERTWIST
CONTINUOUS CONTROL FUNCTION.
CONTROLLER IS MORE COMPLEX.
HIGH QUALITY CONTROL.
DISTURBANCE SMC DRIVEN BY SMC OBSERVER
CONTINUOUS CONTROLLER.
MORE COMPLEX THAN SUPERTWIST.
VERY HIGH QUALITY CONTROL.
ALL SMC DESIGNS PROVIDED HIGH QUALITY OF
CONTROL WITHOUT DISTURBANCE WAVEFORM
MODELING.
MOTION OF A VSC SYSTEM
TWO PHASES
REACHING PHASE (PQ)
SLIDING PHASE (QO)
REMEDIES

SHORTEN THE DURATION OR
ELIMINATE THE REACHING PHASE
Chang and Hurmuzlu [11], Choi et. al. [12],
Bartoszewicz [13], Roy and Olgac [14],
Sastry and Bodson [15].
ASSUMPTION: UNCERTAINTIES ARE BOUNDED AND THEIR
BOUNDS ARE AVAILABLE TO THE DESIGNER

SOMETIMES BOUNDS ON THE UNCERTAINTIES MAY NOT
BE EASILY OBTAINED DUE TO COMPLEX STRUCTURE OF
THE UNCERTAINTIES.

OVER-ESTIMATION
CONSEQUENTLY MAGNITUDE OF CONTROL LARGE.
ADAPTATION LAWS

Slotine and Coetzee [19]
Yoo and Chung [20]
Yuri, Su and Stepanenko [21]
MOST MODERN CONTROL LAWS NEED
THE FULL STATE VECTOR FOR THEIR
IMPLEMENTATION
THE FULL STATE IS NOT ACCESSIBLE
COST OF THE SENSORS COULD BE VERY HIGH
LUENBERGER OBSERVER [30]
UNKNOWN INPUT OBSERVER (UIO)
UNKNOWN INPUT OBSERVER
Lyapunov based approach of Walcott and Zak [22,
23, 24]
Slotine [25]
Lopez [26]
Chen [29]
Others [27],[28]
Extended State Observer (ESO) [31], [32].
Comparison [31]
APPLICATIONS (ES0)
Control of induction motor drive [33]
Aircraft attitude control [34]
Hydraulic position servo system [35]
Torsional vibration control of main drive system of a
rolling mill [36]
DRAZENOVIC (1969) [8]
SLIDING MODE CONTROL IS COMPLETELY
ROBUST TO MATCHED UNCERTAINTIES THAT
LIE IN THE RANGE SPACE OF THE INPUT
MATRIX.
1991 BODE PRIZE LECTURE
THE JOY OF FEEDBACK: NONLINEAR AND
ADAPTIVE
PETAR V. KOKOTOVIC

TIME DELAY CONTROL
TIME DELAY CONTROL BASED ON THE
ASSUMPTION THAT A CONTINUOUS
SIGNAL REMAINS UNCHANGED DURING
A SMALL INTERVAL OF TIME
YOUSUF-TOUMI AND ITO [38,39].
DESIGNING CONTROL FOR TIME-DELAY
SYSTEMS [40], [41]
CRITERIA FOR THE STABILITY OF TIME-DELAY
SYSTEMS [42], [43]
DRAWBACKS: -
TDC INHERENTLY REQUIRES THAT ALL THE STATES
AND THEIR DERIVATIVES BE AVAILABLE FOR
FEEDBACK.
OSCILLATIONS ALWAYS EXIST IN THE CONTROL
SIGNAL.
TIME DELAY MAKES SYSTEM ANALYSIS DIFFICULT
MAINLY IN TERMS OF STABILITY ISSUES AND IT ALSO
TENDS TO DESTABILIZE A SYSTEM.
WORK ON THE STABILITY OF TIME-DELAY LINEAR SYSTEMS
[42] [44]
WORK ON THE STABILIZATION PROBLEM FOR A CLASS OF
UNCERTAIN LINEAR SYSTEMS WITH DELAY [45].
PROOF OF STABILITY OF CLOSED-LOOP TIME-DELAY
SYSTEMS WITH DISCONTINUOUS CONTROL IS MORE
COMPLICATED THAN FOR THE CONTINUOUS CASE.
IF SENSOR USED IN THE MEASUREMENT OF STATES IS
NOISY, THIS MEASUREMENT NOISE WILL BE FURTHER
AMPLIFIED BY TDC.
ZHONG AND RHEES [46] - UNCERTAINTY AND
DISTURBANCE ESTIMATOR (UDE) FOR CONTROL
OF LINEAR TIME INVARIANT SYSTEMS

TALOLE AND PHADKE [47] - EXTENSION TO
DISTURBANCES CONTAINING STATE
DEPENDENT NONLINEARITIES AND TO SYSTEMS
HAVING UNCERTAINTIES IN THE CONTROL
INPUT MATRIX - INERTIAL DELAY CONTROL
(IDC).
MISSILE APPLICATIONS

FUNDAMENTAL OBJECTIVE IN THE
AUTOPILOT DESIGN FOR MISSILE SYSTEMS
TO PROVIDE SATISFACTORY STABILITY,
PERFORMANCE, AND ROBUSTNESS FOR ALL
FLIGHT CONDITIONS WHICH MAY OCCUR IN
PROBABLE ENGAGEMENTS
PROBLEMS IN MISSILE AUTOPILOT
DESIGN

UNCERTAINTIES IN AERODYNAMIC
PARAMETERS, THE CROSS COUPLING EFFECTS,
NONLINEARITIES AND MEASUREMENT
INACCURACIES,
LINEAR CONTROL APPROACHES [48][50]
LINEARIZATION
GAIN SCHEDULING
H AND ANALYSIS [51-53]
NONLINEAR APPROACHES
FEEDBACK LINEARIZATION (FL) [54]
PREDICTIVE CONTROL [55]
SLIDING MODE CONTROL [56]


CONTROLLERS BASED ON STATE FEEDBACK
REQUIRE AVAILABILITY OF STATES
WHILE PITCH RATE AND CONTROL SURFACE
DEFLECTION CAN BE MEASURED ANGLE OF ATTACK IS
NOT AVAILABLE FOR MEASUREMENT. THIS
NECESSITATES DESIGN OF OBSERVER
NON-MINIMUM PHASE CHARACTERISTICS OF
ACCELERATION DYNAMICS
CONTROLLERS ARE DESIGNED WITH ANGLE OF ATTACK
AS OUTPUT INSTEAD OF THE ACCELERATION
KNOWLEDGE IN TERMS OF BOUNDS OF THE
UNCERTAINTY
ESTIMATION OF THE UNCERTAINTY IN SUCH A WAY AS
TO CANCEL OUT THE UNKNOWN DYNAMICS AND
DISTURBANCES.
DESIGN BASED ON THE EXTENDED STATE
OBSERVER (ESO) - PITCH AUTOPILOT OF A TAIL
CONTROLLED, SKID-TO-TURN MISSILE [57].

OBSERVER-BASED CONTROL APPROACH FOR
THE ACCELERATION CONTROL OF TAIL-
CONTROLLED SKID-TO-TURN (STT) MISSILES [58]

REQUIREMENTS

HIGHER TURN RATES
LARGER MANEUVERABILITY ENVELOPES
REDUCED STORAGE AND SIGNATURE
VOLUMES

ALTERNATE MEANS OF MISSILE CONTROL AS OPPOSED TO
PURELY AERODYNAMIC CONTROL [59], [60].

TECHNOLOGY PAYOFFS WITH ALTERNATE
TECHNOLOGIES
SMALLER FIN SIZES THAT DECREASE STOWAGE VOLUME FOR
INTERNAL CARRIAGE, ESPECIALLY IMPORTANT FOR THE TYPE
OF FIGHTERS CURRENTLY BEING DEVELOPED
INCREASED MANEUVERABILITY AND OFF-BORESIGHT
CAPABILITY FOR AN IMPROVED ALL-ASPECT DEFENSIVE
SHIELD
HIGH ANGLE OF ATTACK LAUNCH CAPABILITY TO MATCH
IMPROVED AIRCRAFT AGILITY.
IMPROVED END-GAME PERFORMANCE (HIGHER G-LEVELS).
CHALLENGES TO THE CONTROL SYSTEM
DESIGNER [61].
THE DESIGN HAS TO ENCOMPASS ALL PHASES
OF FLIGHT.
FOR EXAMPLE
DURING SEPARATION FROM THE LAUNCH AIRCRAFT
INCREASE IN PITCH-UP TENDENCIES DUE TO LACK OF
SUFFICIENT AERODYNAMIC STABILIZATION (SMALLER
FINS).

AFTER SAFE SEPARATION, THE SYSTEM MAY BE
REQUIRED TO PERFORM FAST 180 TURNS TO DEFEND
AGAINST AND ENGAGE REAR HEMISPHERE POSITIONED
THREATS AND TARGETS.

DURING THE ENDGAME, THE REDUCED AERODYNAMIC
CONTROL EFFECTIVENESS DUE TO SMALLER FIN SIZES
MUST BE APPROPRIATELY COMPENSATED
PROPULSION BASED CONTROL IN THE
FORM OF THRUST VECTORING (TVC) [62]
AND/OR

A REACTION JET CONTROL SYSTEM (RCS)
[61].
[61] Ajay Thukral and Mario Innocenti, A Sliding Mode Missile Pitch
Autopilot Synthesis for High Angle of Attack Maneuvering, IEEE
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MAY 1998 pp. 359-371
[61] Ajay Thukral and Mario Innocenti, A Sliding Mode Missile Pitch
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[61] Ajay Thukral and Mario Innocenti, A Sliding Mode Missile Pitch
Autopilot Synthesis for High Angle of Attack Maneuvering, IEEE
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MAY 1998 pp. 359-371
THE REAL TEST
WILLINGNESS TO EXPERIMENT IN
PROFESSIONAL PRACTICE
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