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Non-linear Control III. Sliding Mode Control

Middle Exam. July, 2016
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Problem 1.
1. Show that for the system
x1 x 2
x 2 x 3 b2 u
x 3 a1 x1 b3 u, b2 0, b3 0

The Filippov method and the Equivalent Control Method result in the same sliding mode
equations on the surface

s 0, s c1 x1 c2 x 2 x3
with control
u Msign s, M 0. .

2. Having the output y x1 , design

A) The reduced order observer;
B) SM observer;
C) The tracking SM control with the reference yref (t ) and a1 0 .
3. Show the stability of the SM dynamics which include the zero dynamics.

Problem 2.
1. Reduce the nonlinear system
x1 x 2

x 2 x 3 b2 x12 u
x 3 x 2 b3 x1u, b2 0, b3 0
to the regular form.
2. Derive a sliding mode equation on the surface
s 0, s y3 c1 y1 c2 y 2
where y ( y1 , y 2 , y 3 ) T are new variables presented a state vector of the regular form.
3. Linearize the sliding mode equation in the equilibrium point y=0, and choose c1 and c 2 such
that the linearized sliding mode equation has the desired eigenvalues
1 1, 2 5 .
 2

Problem 3.
Consider a third-order system with scalar control
x Ax bu , x R 3 , u R1
where
0 1 0 2

A 0 0 1 , b 2

1 1 2 1
1. Design a sliding surface such that the sliding mode equation has eigenvalues
1 1, 2 5
using two approaches:
A) Transformation to the canonical form
B) Transformation to a regular form and block control technique (or backstepping).

2. Find the sliding mode existing conditions for the control

u k1sign s .
1 2
3. Using the Lyapunov function v s , find the parameters 1 , 2 and 3 of the variable
2
structure control
u 1x1 2 x 2 3 x3

i
for xi s 0
i
i
for x i s 0, i 1,2,3

such that the sliding mode motion is globally stable.

Problem 4.
Consider the nonlinear system

x1 a1 x12 x1 x2
x2 x2 x1 x2 u f 2 ( x, t ).
Having the output. y x1 , design observer-based SM control.