Robust Hyperplane Design in Variable Structure Control

Sliding motions in a variable structure control system yield a design method which is applicable to uncertain dynamical systems. A variable structure control system has the central feature of switching on one or more manifolds in the state space. When acting in the sliding motion, the system state continuously intersects the switching hyperplane in different directions. If a system switches on all the switching manifolds together, the system is said to be in the sliding mode (Dorling, C.M., and Zinober, A.S.I., 1986). The sliding mode is obtained by a discontinuous control action. The system changes its structure when crossing the switching surface. Systems operating in sliding mode are therefore denoted variable structure systems.