抄録
In this paper, the design of sliding mode control systems is studied under the situation that the inputs are constrained by saturation. Setting the control law as a simple sign function of a given magnitude, how to select an appropriate switching surface is considered so as to guarantee constant robustness to the “matched” disturbance. First, it is shown that the linear surface (hyperplane) may be used for a class of linear systems. Next, for second order systems, a new method of designing the nonlinear switching surface is proposed. Using the method, the nonlinear surfaces are designed for linear systems, and the superiority of them to the conventional hyperplanes is shown by comparing from the viewpoints of robustness, stability region, and dynamics of the sliding mode.
