Homogeneous high-order sliding modes

A. Levant*

*Corresponding author for this work

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

2 Scopus citations


Homogeneity of dynamic systems provides for a number of practically important features. In particular, the finite-time convergence is easily proved, and the asymptotic accuracy is readily calculated in the presence of input noises, delays and discrete sampling. General uncertain single-input-single- output regulation problems are only solvable by means of discontinuous control via the so-called high-order sliding modes (HOSM). Robust output-feedback homogeneous HOSM controllers are produced, using robust exact homogeneous differentiators. The dangerous chattering effect is removed in a standard way. The system performance is not sensitive to the presence of unaccounted-for fast stable dynamics of actuators and sensors, delays and discrete sampling.

Original languageEnglish
Title of host publication3rd IFAC Conference on Analysis and Design of Hybrid Systems, ADHS'09 - Proceedings
PublisherIFAC Secretariat
Number of pages6
EditionPART 1
ISBN (Print)9783902661593
StatePublished - 2009

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


  • Discrete sampling
  • Output feedback
  • Robustness
  • Sliding-mode control
  • Uncertainty


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