Quasi-continuous high-order sliding-mode controllers

Arie Levant*

*Corresponding author for this work

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


A universal finite-time-convergent controller is developed capable to control the output σ of any uncertain SISO system of a known permanent relative degree r. The mode σ ≡ 0 (r-sliding mode) is established by means of a control dependent only on σ, σ,..., σ r-1 and continuous everywhere except the set σ = σ= ... = σr-1 = 0. An output-feedback controller version is also developed. With a being the tracking deviation, the exact finite-time-convergent output tracking is provided in the absence of output noises, otherwise the tracking accuracy is proportional to the magnitude of the noise. In the latter case σ ≡ 0 is not attained producing an unswitched control continuous in time. The resulting performance is significantly improved compared with known r-sliding controllers.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)0780379241
StatePublished - 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: 9 Dec 200312 Dec 2003

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference42nd IEEE Conference on Decision and Control
Country/TerritoryUnited States
CityMaui, HI


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