Variable Structure Control: A Survey
John Y. Hung, Member, IEEE, Weibing Gao, SeniorMember, IEEE, and James C. Hung, Fellow, IEEE
Abstract-A tutorial account of variable structure control with brief discussions about its historical development are pre-
sliding mode is presented in this paper. The purpose is to sented.
introduce in a concise manner the fundamental theory, main
results, and practical applications of this powerful control sys- A. The Basic Notion of VSC
tem design approach. This approach is particularly attractive
The basic idea of VSC was originally illustrated by a
for the control of nonlinear systems. Prominent characteristics
such as invariance, robustness, order reduction, and control second-order system [431, [ 1541 similar to the following
chattering are discussed in detail. Methods for coping with
chattering are presented. Both linear and nonlinear systems are
considered. Future research areas are suggested and an exten-
2y -x... [continues]
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