Sliding Mode Control in Electro-Mechanical Systems  book cover
2nd Edition

Sliding Mode Control in Electro-Mechanical Systems

ISBN 9781420065602
Published May 1, 2009 by CRC Press
503 Pages 237 B/W Illustrations

USD $180.00

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Book Description

Apply Sliding Mode Theory to Solve Control Problems

Interest in SMC has grown rapidly since the first edition of this book was published. This second edition includes new results that have been achieved in SMC throughout the past decade relating to both control design methodology and applications.

In that time, Sliding Mode Control (SMC) has continued to gain increasing importance as a universal design tool for the robust control of linear and nonlinear electro-mechanical systems. Its strengths result from its simple, flexible, and highly cost-effective approach to design and implementation. Most importantly, SMC promotes inherent order reduction and allows for the direct incorporation of robustness against system uncertainties and disturbances. These qualities lead to dramatic improvements in stability and help enable the design of high-performance control systems at low cost.

Written by three of the most respected experts in the field, including one of its originators, this updated edition of Sliding Mode Control in Electro-Mechanical Systems reflects developments in the field over the past decade. It builds on the solid fundamentals presented in the first edition to promote a deeper understanding of the conventional SMC methodology, and it examines new design principles in order to broaden the application potential of SMC.

SMC is particularly useful for the design of electromechanical systems because of its discontinuous structure. In fact, where the hardware of many electromechanical systems (such as electric motors) prescribes discontinuous inputs, SMC becomes the natural choice for direct implementation. This book provides a unique combination of theory, implementation issues, and examples of real-life applications reflective of the authors’ own industry-leading work in the development of robotics, automobiles, and other technological breakthroughs.

Table of Contents


Examples of Dynamic Systems with Sliding Modes

Sliding Modes in Relay and Variable Structure Systems

Multidimensional Sliding Modes

Outline of Sliding Mode Control Methodology

Mathematical Background

Problem Statement


Equivalent Control Method

Physical Meaning of Equivalent Control

Existence Conditions

Design Concepts

Introductory Example


Regular Form


Unit Control

Second-Order Sliding Mode Control

Sliding Mode Control of Pendulum Systems

Design Methodology

Cart Pendulum

Rotational Inverted Pendulum (Model)

Rotational Inverted Pendulum (Control)

Simulation and Experiment Results for Rotational Inverted Pendulum

Control of Linear Systems

Eigenvalue Placement

Invariant Systems

Sliding Mode Dynamic Compensators

Ackermanns Formula

Output Feedback Sliding Mode Control

Control of Time-Varying Systems

Sliding Mode Observers

Linear Asymptotic Observers

Observers for Linear Time-Invariant Systems

Observers for Linear Time-Varying Systems

Observer for Linear Systems with Binary Output

Integral Sliding Mode


Problem Statement

Design Principles

Perturbation and Uncertainty Estimation



The Chattering Problem

Problem Analysis

Boundary Layer Solution

Observer-Based Solution

Regular Form Solution

Disturbance Rejection Solution

State-Dependent Gain Method

Equivalent Control-Dependent Gain Method

Multiphase Chattering Suppression

Comparing the Different Solutions

Discrete-Time and Delay Systems

Introduction to Discrete-Time Systems

Discrete-Time Sliding Mode Concept

Linear Discrete-Time Systems with Known Parameters

Linear Discrete-Time Systems with Unknown Parameters

Introduction to Systems with Delays and Distributed Systems

Linear Systems with Delays

Distributed Systems


Electric Drives

DC Motors

Permanent-Magnet Synchronous Motors

Induction Motors


Power Converters

DC/DC Converters

Boost-Type AC/DC Converters

DC/AC Converter


Advanced Robotics

Dynamic Modeling

Trajectory Tracking Control

Gradient Tracking Control

Application Examples

Automotive Applications

Air/Fuel Ratio Control

Camless Combustion Engine

Observer for Automotive Alternator

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Vadim Utkin is one of the originators of the concepts of Variable Structure Systems and Sliding Mode Control. Author of five books and more than 300 technical papers, he was awarded the Lenin Prize (the highest scientific award in the former Soviet Union) and was Ford Chair of Electromechanical Systems from 1994 to 2002 at the Ohio State University.

Jüergen Guldner received a Master of Science in Electrical Engineering from Clemson University, South Carolina and a Ph.D. in Controls and Robotics from the Technical University of Munich, Germany, in collaboration with the German Aerospace Center (DLR). He is currently with BMW Manufacturing Co. in Greenville-Spartanburg, SC, preparing the production launch of BMW’s first Active Hybrid Vehicle.

Jingxin Shi graduated from Beijing University of Aeronautics and Astronautics and has worked as visiting scholar and research engineer (permanent employee) for the German Aerospace Centre (DLR), Institute for Robotics and System Dynamics. He was one of the key engineers of German-D2 space robotic program ROTEX (Robot Technology Experiment) which flew aboard U.S. space shuttle Columbia in 1993.