Title: Geometric sliding mode control: the linear and linearized theory
Author(s): Ron M. Hirschorn and Andrew D. Lewis
Detail: Proceedings of the 42nd IEEE Conference on Decision and Control, December 2003, pages 2971-2976
Conference proceedings version: Download

The idea of sliding mode control for stabilization is investigated to determine its geometric features. A geometric definition is provided for a sliding submanifold, and for various properties of a sliding submanifold. Sliding subspaces are considered for linear systems, where a pole placement algorithm is given that complements existing algorithms. Finally, it is shown that at equilibrium for a nonlinear system with a controllable linearization, the sliding subspace for a linearization gives rise to many local sliding submanifolds for the nonlinear system.

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Andrew D. Lewis (andrew at mast.queensu.ca)