2nd Edition

Sliding Mode Control in Electro-Mechanical Systems

    502 Pages 237 B/W Illustrations
    by CRC Press

    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.


    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


    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.