[Legacy Report] IE/PEL/CS Chapter Lecture on Robust Composite Nonlinear Feedback Control Using Integral Sliding Mode

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We discuss the problem of improving performance yet preserving the invariance towards the matched disturbances from a different perspective. Here a nonlinear surface is proposed which considers actuator saturation and the elimination of the reaching phase with improvement in the performance. For any practical system, actuator output can ot take any amplitude. Actuator capacity is always bounded, therefore it is necessary to consider the effect of saturation actuator a priori. In conventional sliding mode, the motion of the trajectory is constrained to lie in an (n-m) dimensional manifold with a discontinuous control action. Here m is the number of inputs and n is the order of the system. The motion of the trajectory from the initial condition towards the sliding surface until it hits the sliding surface is called the reaching phase.

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