A Model free sliding mode controller scheme for multi-state square and non-square system is presented in this work, which does not require the knowledge of the system model. This controller only uses previous control inputs and state measurements to generate the current control input. The only knowledge that is required to derive this controller is the system order and bounds of the control input gain, if exists one. The switching gain, which is required to drive the system states into sliding surface in the presence of disturbance, is computed using Lyapunov’s stability theorem to ensure closed loop asymptotic stability. The chattering effect, which is inserted by switching gain due to high activity of the control input, is reduced by using smoothing boundary layer into the control law form. Simulations are performed for multi-state square and non-square linear and nonlinear systems, to test the controller.
Analysis of Model-Free Sliding Mode Control for Multi-State System
