Sliding Mode Control in Mechanical Systems with Electric Actuators

The design procedure should consist of selecting the switching manifold with sliding mode in order to design the desired dynamics of the motion equation and finding a discontinuous control function such that the state reaches the manifold and sliding mode exists in that manifold. The design of control for systems given by (1) can be easily performed for systems in the so-called Regular form. If (1) satisfies certain conditions, such as the existence of a solution to Pfaffian’s equation ( / ) 0, ( ) n m x B x R φ φ − ∂ ∂ = ∈ , then it can be represented in the Regular form [2] given by: Abstract-A control algorithm using the Block Control Principle and Sliding Mode theory is developed for pendulum systems with motor current as control. The behaviour of these non-linear systems with the control as a linear function with saturation is studied in contrast to using the control as a discontinuous function. Results from Singular Perturbation Theory are used towards analysis.