Sliding mode control revisited
Journal article, 2020

Controller design for nonlinear systems in its general form is complicated and an open problem. Finding a solution to this problem becomes more complicated when unwanted terms, such as disturbance, are taken into account. To provide a robust design for a subclass of nonlinear systems, sliding mode controllers (SMCs) are used. These controllers have a systematic design procedure and can reject bounded disturbances and at the same time guarantee stability. The guaranteed stability is achieved by separating system states into two parts and assuming that the input to state stability (ISS) condition holds for internal dynamics. This condition restricts the applicability of the SMC and limits the system performance when the controller is designed based on that. In order to remove this restriction and improve the performance, the ISS condition has been relaxed in this study. The relaxation is performed by redesigning SMCs based on suggested Lyapunov functions. The proposed idea insures global asymptotic stability of the closed loop system and is used to revise different well-known SMCs such as conventional SMC, terminal SMC, non-singular terminal SMC, integral SMC, super-twisting SMC, and super-twisting integral SMC. Comparisons between conventional and revised versions are made using simulation to demonstrate excellence of the revisited controllers.

integral sliding mode control

Lyapunov-based design

super twisting sliding mode control

Sliding mode control

terminal sliding mode control


Masoud Bahraini

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Mohammad Javad Yazdanpanah

University of Tehran

Shokufeh Vakili

Qazvin Islamic Azad University

Mohammad Reza Jahed-Motlagh

Iran University of Science and Technology

Transactions of the Institute of Measurement and Control

0142-3312 (ISSN) 1477-0369 (eISSN)

Vol. 42 14 2698-2707

Subject Categories

Computational Mathematics

Control Engineering

Other Electrical Engineering, Electronic Engineering, Information Engineering



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