Variable structure control of a class of uncertain systems

This brief paper proposes a method for tuning the parameters of a variable structure controller. The approach presented extracts the error at the output of the controller and applies a nonlinear tuning law using this error measure. The adaptation mechanism drives the state tracking error vector to the sliding hypersurface and maintains the sliding mode. In the simulations, the approach presented has been tested on the control of Du9ng oscillator and the analytical claims have been justi;ed under the existence of measurement noise, uncertainty and large nonzero initial errors. ? 2003 Elsevier Ltd. All rights reserved.