Experimental Robustness Study of a Second-Order Sliding Mode Controller

[+] Author and Article Information
André Blom, Bram de Jager

Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands

J. Dyn. Sys., Meas., Control 118(1), 184-187 (Mar 01, 1996) (4 pages) doi:10.1115/1.2801144 History: Received March 16, 1993; Online December 03, 2007


The design of a Second-Order Sliding Mode Controller is discussed and guidelines are given for tuning. The robustness to unmodeled dynamics and parameter-errors is investigated and tested in an experimental case study. The experimental results, as far as robustness to unmodeled dynamics is concerned, are not better than for a traditional PD-controller. When robustness to parameter-errors is concerned the Second-Order Sliding Mode Controller performs slightly better.

Copyright © 1996 by The American Society of Mechanical Engineers
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