Sliding modes in finite-time control systems with variable structure

This paper proposes a method for the organization of real sliding movements, which are caused by finite switching frequency of control systems. In one of two proposed structures for the organization of sliding modes, the control is formed according to the principle of feedback connections; in the other proposed structure, the control is formed according to the principle of discrete control where the discrete levels are defined by crossing (hitting) points on a hyperplane. The proposed method allows users to solve practically oriented problems of organization of sliding movements while taking into account real boundaries existing in systems. The proposed models are simulated using MATLAB/SIMULTNK.