Adjustment of high-order sliding-mode controllers

Arie Levant*, Alon Michael

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations


One of the main problems in the high-order sliding-mode application is the difficulty to properly adjust the controller parameters. A universal method is proposed, based on the homogeneity approach, which allows to make the finite-time convergence arbitrarily fast or slow. Another problem arises, when the dynamic system uncertainties are unbounded. in general, in that case only local uncertainty suppression is obtained. This restriction is also removed in the paper. The results are illustrated by computer simulation.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)008045108X, 9780080451084
StatePublished - 2005

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


  • Nonlinear control
  • Robustness
  • Sliding mode
  • Tracking systems
  • Uncertainty


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