Sliding Mode Control

PRINCETON/CENTRAL JERSEY SECTION OF IEEE – CIRCUITS AND SYSTEMS
Sliding Mode Control with

Industrial Applications
Wu-Chung Su, Ph. D.
Department of Electrical Engineering
National Chung Hsing University,Taiwan, R. O. C.
Department of Electrical and Computer Engineering

Rutgers, The State University of New Jersey, U. S. A.
Princeton/Central Jersey Section of IEEE

2008/11/17 - Circuits and Systems Chapter Meeting 1
Prelude
A Control Engineer as an Archer…
to drive the state to the target.

3
賣油翁宋歐陽修
Ouyang Show(1007~1072A.D.)

- Circuits and Systems Chapter Meeting
陳康肅公堯咨善射，當世無雙，公亦以此
自矜。嘗射於家圃，有賣油翁釋擔而立，睨之，
久而不去。見其發矢十中八九，但微頷之。
康肅問曰：﹁汝亦知射乎？吾射不亦精
乎？﹂翁曰：﹁無他，但手熟爾。﹂康肅忿然曰：
﹁爾安敢輕吾射！﹂翁曰：﹁以我酌油知之。﹂
The Old Oil-Peddler
乃取一葫蘆置於地，以錢覆其口，徐以杓酌油瀝
之，自錢孔入，而錢不濕。因曰：﹁我亦無他，
http://baike.baidu.com/ 2008/11/17
惟手熟爾。﹂康肅笑而遣之。
Sliding Mode: an illustration
to fill oil into a bottle through a funnel

A “funnel-like” domain
⎧ x1 = x2
System: ⎨ x2
⎩ x2 = 2 x1 − 3 x2 + u
Target: ( x1 , x2 ) = (0, 0)
x1
Funnel: x2 = − x1
New target: s = x1 + x2 = 0 s=0

A Physical Example
Coulomb Friction
dv
m = − K sgn(v) + f a
dt
f a : applied force
For example, K = 3, f a = −2
dv
v >0⇒m = −3 − 2 < 0 ⇒ v ↓
dt
dv http://www.physics4kids.com
v < 0 ⇒ m = 3− 2 > 0 ⇒ v ↑
dt
sliding mode: v ≡ 0 (if f a < K ).

Contents (1/2)
y Introduction to Sliding Mode
◦ Variable Structure Systems
◦ Invariance Condition (Matching Condition)
y Variable Structure Systems (VSS) Design
◦ Sliding Surface Design
◦ Discontinuous Control
y Discrete-Time Sliding Mode
◦ O(T ) v.s. O(T 2 ) Boundary Layer
◦ Switching v.s. Continuous Control
Contents (2/2)
y Minimum-Time Torque Control (SRM)
y Temperature Control (Plastic Extrusion P.)
y Rod-less Pneumatic Cylinder Servo
y Wireless Network Power Control
y Singular Perturbations
y Distributed Parameter Systems

A “funnel-like” domain (cont.)
⎧⎪ x1 = x2 disturbance
System:⎨ x2
⎪⎩ x2 = 2 x1 − 3 x2 + u + f (t )
Target: ( x1 , x2 ) = (0, 0)
x1
Funnel: x2 = − x1

A “funnel-like” domain (cont.)
= Parameter
⎧⎪ 1x x2
System: ⎨ variations
⎪⎩ x2 = 2 x1 − 3 x2 + u + (Δ1 x1 + Δ 2 x2 )
x2
Target: ( x1 , x2 ) = (0, 0)
Funnel: x2 = − x1
x1
New target: s = x1 + x2 = 0
s=0
Introduction to Sliding mode
- Variable Structure Systems
⎧ x1 = x2 (K. D.Young, 1978)
System : ⎨
⎩ x2 = ax2 − bu
Switching line : s = cx1 + x2 = 0

(Sliding Surface)
⎧α x1 , if x1s > 0 (region I)

Control : u = ⎨
⎩−α x1 , if x1s < 0 (rigion II)
- Variable Structure Systems
⎡ 0 1⎤
Structure I : x = ⎢ ⎥ x
⎣ −bα a ⎦
s 2 − as + bα = 0 : spiral out
⎡ 0 1⎤
Structure II : x = ⎢ ⎥ x
⎣bα a ⎦
s 2 − as − bα = 0 : saddle point

- Invariance Condition
Q: Can the control law possibly reject
the disturbance out of the system?
⎡0 2⎤ ⎡2⎤
x = Ax + ⎢⎢ −1 1 ⎥⎥ u + ⎢⎢ −1⎥⎥ f (t )
⎢⎣ 2 −1⎥⎦ ⎢⎣ 3 ⎥⎦
⎡0⎤ ⎡2⎤ ⎡2⎤
= Ax + ⎢⎢ −1⎥⎥ u1 + ⎢⎢ 1 ⎥⎥ u2 + ⎢⎢ −1⎥⎥ f (t )
⎣⎢ 2 ⎦⎥ ⎣⎢ −1⎦⎥ ⎢⎣ 3 ⎥⎦
⎧⎡ 0 ⎤ ⎡ 2 ⎤ ⎫
⎪⎢ ⎥ ⎢ ⎥ ⎪
Control subspace: span ⎨ −1 , 1 ⎬
⎢ ⎥ ⎢ ⎥
⎪ ⎢ 2 ⎥ ⎢ −1⎥ ⎪
⎩⎣ ⎦ ⎣ ⎦ ⎭
⎧⎡ 2 ⎤ ⎫
Disturbance subspace: span ⎪ ⎢ −1⎥ ⎪
⎨⎢ ⎥ ⎬
⎪⎢ 3 ⎥ ⎪
⎩⎣ ⎦ ⎭
* The disturbance can be rejected by the control law if
(and only if) the control subspace covers
the disturbance subspace.
In this example, ⎡2⎤ ⎡0⎤ ⎡2⎤
⎢ −1⎥ = 2 ⎢ −1⎥ + ⎢ 1 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢⎣ 3 ⎥⎦ ⎢⎣ 2 ⎥⎦ ⎢⎣ −1⎥⎦
.
If is known, then the control law
d (t )
u1 = v1 − 2 f (t )
u2 = v2 − f (t )
Will lead to
⎡0⎤ ⎡2⎤ ⎡0⎤ ⎡2⎤ ⎡2⎤ ⎡0 2⎤
x = Ax + ⎢⎢ −1⎥⎥ v1 + ⎢⎢ 1 ⎥⎥ v2 + ( −2 ⎢⎢ −1⎥⎥ − ⎢⎢ 1 ⎥⎥ ) f (t ) + ⎢⎢ −1⎥⎥ f (t ) = Ax + ⎢⎢ −1 1 ⎥⎥ v
⎢⎣ 2 ⎥⎦ ⎢⎣ −1⎥⎦ ⎢⎣ 2 ⎥⎦ ⎢⎣ −1⎥⎦ ⎢⎣ 3 ⎥⎦ ⎢⎣ 2 −1⎥⎦
(Drazenovic, 1969):
The system with disturbance
x = Ax + Bu + Ef (t )
is invariant of f (t ) in sliding mode s≡0 iff
rank [ B | E ] = rank [ B ] .
In the previous example,
⎡0 2 2⎤ ⎡0 2⎤
⎢ ⎥
rank ⎢ −1 1 −1⎥ = rank ⎢⎢ −1 1 ⎥⎥ = 2.
⎢⎣ 2 −1 3 ⎥⎦ ⎢⎣ 2 −1⎥⎦
A “funnel-like” domain (revisit)
⎧⎪ x1 = x2 disturbance
System:⎨ x2
⎪⎩ x2 = 2 x1 − 3 x2 + u + f (t )
Target: ( x1 , x2 ) = (0, 0)
x1
Funnel: x2 = − x1

A “funnel-like” domain (revisit)
= Parameter
⎧⎪ 1x x2
System: ⎨ variations
⎪⎩ x2 = 2 x1 − 3 x2 + u + (Δ1 x1 + Δ 2 x2 )
x2
Target: ( x1 , x2 ) = (0, 0)
Funnel: x2 = − x1
x1
New target: s = x1 + x2 = 0
s=0
VSS Design
⎧ x1 = x2 (K. D.Young, 1978)
System : ⎨
⎩ x2 = ax2 − bu
Switching line : s = cx1 + x2 = 0

(Sliding Surface)
⎧α x1 , if x1s > 0 (region I)

Control : u = ⎨
⎩−α x1 , if x1s < 0 (rigion II)
VSS Design
Existence of sliding mode
i. Reaching condition (sufficient, global)
s < −σ sgn( s), σ > 0
ii. Sliding condition (sufficient, local)

x(0) lim+ s < 0, lim− s > 0
s →0 s →0
+ Sliding Surface: s = 0
u
u− 2008/11/17
- Circuits and Systems Chapter Meeting 20
VSS Design
Finite time reaching: s < −σ sgn( s), σ > 0
Lyapunov function
V = s2
dV
= 2 ss = −2σ s < 0
dt
∴ s( x) → 0
V (0) s (0)
Reaching time T< =
σ σ

VSS Design
A heuristic example
d
( D + a3 D + a2 D + a1 ) y (t ) = (b3 D + b2 D + b1 )(u + f (t )), D =
3 2 2
dt
⎡ 0 1 0 ⎤ ⎡0⎤ ⎡0⎤
x = ⎢⎢ 0 0 1 ⎥⎥ x + ⎢⎢ 0 ⎥⎥ u + ⎢⎢0 ⎥⎥ f (t )
⎢⎣ − a1 − a2 − a3 ⎥⎦ ⎢⎣1 ⎥⎦ ⎢⎣1 ⎥⎦
y = [b1 b2 b3 ] x
(i) Sliding surface s ( x ) = x3 + c2 x2 + c1 x1 = 0
Sliding mode dynamics:
⎧ x1 = x2
⎨ , with x3 = −c1 x1 − c2 x2 .
⎩ x2 = x3 Princeton/Central Jersey Section of IEEE
VSS Design
ds ( x) ∂s dx
(ii) =
dt ∂x dt
s = x3 + c2 x2 + c1 x1
= −a1 x1 − a2 x2 − a3 x3 + u + f (t ) + c2 x3 + c1 x2
(iii) Discontinuous control
u = a1 x1 + (a2 − c1 ) x2 + (a3 − c2 ) x3 − ( f max + σ ) sgn( s )
- Reaching condition s < −σ sgn( s), σ > 0

satisfied if f (t ) < f max .
VSS Design
Two steps in VSS design
x = f ( x , u , t )
1. Choose sliding surface
s( x ) = 0
2. Design discontinuous control to
render sliding mode
⎧⎪ f ( x , u + , t ) = f + , s > 0
x = ⎨ − −
⎪⎩ f ( x , u , t ) = f , s<0
VSS Design
- Sliding Surface
x = A x + B u + D f ( t )
Eigenspace Approach v.s. Lyapunov Approach
Nonsingular transformation Stabilizing feedback
⎡0( n − m )×m ⎤ ⎡ x1 ⎤ x = A x − B K x + D f ( t )
TB = ⎢ ⎥ , Tx = ⎢ ⎥
⎣ B2 ⎦ ⎣ x2 ⎦ Lyapunov function
Canonical form PAs + AsT P = −Q
⎡ x1 ⎤ ⎡ A11 A12 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤ ⎡0⎤ 1 T
⎢ x ⎥ = ⎢ A +
A22 ⎥⎦ ⎢⎣ x2 ⎥⎦ ⎢⎣ B2 ⎥⎦
u + ⎢ ⎥ f (t )
V ( x) = x Px
⎣ 2 ⎦ ⎣ 21 ⎣ D2 ⎦
2
Sliding surface Sliding surface
x2 = − Kx1 , or s( x ) = [ K I m×m ] Tx s ( x ) = BT Px
VSS Design
- Discontinuous Control
x = A x + B u + D f ( t )
slid in g su rfa ce: s ( x ) = C x = 0
s = C A x + C B u + C D f ( t )
Signum function
(Single-input case)
u = −(CB) −1 CAx − (CB) −1 (σ + d max ) sgn( s )
v.s.
Unit Control
(Multi-input case) s
u = −(CB) −1 CAx − (CB) −1 (d max + σ ) ⋅
s
Discrete-Time Sliding Mode
Continuous-time
x = Ax + Bu + Df (t )
Sliding surface: s (t ) = Cx (t ) = 0
Sampled-data
xk +1 = Φxk + Γuk + d k
Sliding surface: sk = Cxk = 0
T
Φ = e , Γ = ∫ e Aτ dτ B,
AT
0
( k +1)T T
dk = ∫
kT
e A(t −τ ) Df (τ )dτ = ∫ e Aλ Df ((k + 1)T − λ )d λ
0
xk +1 = Φxk + Γuk + d k
T T
Γ = ∫ e Aλ d λ B, d k = ∫ e Aλ Df ((k + 1)T − λ )d λ
0 0
Issues on disturbance rejection:
1. Matching condition fails d k ∉ range(Γ)
However, d k = Γf (kT ) + O(T 2 )
2. Non-causal disturbances
However, d k = d k −1 + O(T 2 )
d k −1 = xk − Φxk −1 − Γuk −1
Ultimate achievable accuracy:O(T 2 )
Quasi-sliding mode sk = O(T ), s (t ) = O(T )
Discontinuous control
Discrete-time sliding mode k

s = 0, s (t ) = O (T 2
)
Continuous control

Ukin’s discrete-time equivalent control
(Continuous control law)
sk +1 = C Φxk + C Γuk + Cd k = 0
−1
u = −(C Γ) C (Φxk + d k )
eq
k
Discrete-time O(T 2 ) sliding mode control

(Modification of ukeq )
uk = −(C Γ ) −1 C (Φxk + d k −1 )
⇒ sk +1 = C ( d k − d k −1 ) = O (T 2 )
Contents (1/2)
y Introduction to Sliding Mode
◦ Variable Structure Systems
◦ Invariance Condition (Matching Condition)
y Variable Structure Systems (VSS) Design
◦ Sliding Surface Design
◦ Discontinuous Control
y Discrete-Time Sliding Mode
◦ O(T ) v.s. O(T 2 ) Boundary Layer
◦ Switching v.s. Continuous Control
Contents (2/2)

Switched Reluctance Motors
Rotor Stator
A
A-
1
2 6
3 5
4
4-phase, 8/6-pole SRM

Stator 導磁材Rotor
料
reluctance
磁阻force
力
Magnetic
磁力線
flux
Reluctance磁force
阻力
L (θ )
θ
(m H )
R La Lb Lc Ld
30
a
a' 10
7 .5 1 5 2 2 .5 3 0 3 7 .5 4 5 5 2 .5 6 0
(D eg ree)
di j dL j (θ )
V j = L j (θ ) + i j + R j i j , j = A, B, C , D
dt dt
1 dL j (θ ) 2
Torque ∝ i : T j = 2
ij
2 dθ

Minimum-Time Torque Control
Vdc
System dynamics:
Q1 Q3
di
Sensor 1 Sensor 2 = − A(θ , ω )i + B (θ )V (t )
A C B D
dt
Q2 Q4
Sliding surface:
s = i − ir = 0
Drive Circuit
Minimum-Time VSC:
CPLD ⎧−Vdc , if i (t ) > ir
XC9536 Drive V (t ) = ⎨
⎩ Vdc , if i (t ) < ir
encoder
V* = K V * = −K
current sensor i
i (t 0 ) ir i (t 0 )
Control System Setup

Minimum-Time Torque Control

Temperature Control
- A Plastic Extrusion Process
System setup: ITRI (Industrial Technology Research Institute), Taiwan, R.O.C.

Temperature Control
Dynamics of Channel temperature:
dy hA hA 1
=− y+ y∞ + w
dt ρ cV ρ cV ρ cV
Rate of change of energy input:
dw ⎧a + ( w, u , t ), u ≥ 0
= a ( w, u , t ) = ⎨ −
dt ⎩ a ( w, u , t ), u < 0
Single-channel dynamics:
y = −my + v
a ( w, u , t )
v = +ξ
ρ cV
Temperature Control
Single-channel dynamics:
y = −my + v
a ( w, u, t )
v = +ξ
ρ cV
Sliding surface (PI control):
KI
v = − K P e − K I e or V ( s ) = ( K P + )( ydesired ( s ) − Y ( s ))
s
Output feedback sliding mode control
s = e + ( K P + m)e + K I e
sk ≈ a1sk −1 + b0 ek + b1ek −1
Temperature Control
⎧ heat, sk < 0
Switching control law: uk = ⎨
⎩ water, sk > 0

Rod-less Pneumatic Cylinder Servo

Equation of motion:
M LY = − μuY − μc sgn Y + AT ΔP
Pressure dynamics:
ΔP = ψ 1 ( P1 , P2 , Y , X ) X +ψ 2 ( P1 , P2 , Y , Y , X )

Sliding surface:
M L 1
σ = ΔP − ⎡⎣Yd + k1 (Yd − Y ) + k2 (Yd − Y ) ⎤⎦ + ⎡⎣ μuY + μc sgn Y ⎤⎦
AT AT
Variable Structure Control: X = − X v sgn(σ )

Wireless Network Power Control
Zoran Gajic, Plenary Lecture 2007 CACS International Automatic Control Conference
National Chung Hsing University, Taichung, Taiwan, November 9-11, 2007
, Wireless Network Power Control
Signal-to-interference ratio (SIR) for the ith user
gii (t ) pi (t ) gii (t ) pi (t )
γ i (t ) = = , i = 1, 2," , N .
I i (t ) ∑ gij (t ) p j (t ) + υi (t )
j ≠i
Control objective: γ i (t ) → γ i tar
Logarithmic scale representation

γ i = gii + pi − I i ( p−i )
System dynamics:
p i (t ) = ui (t ), i = 1, 2," N
γ i (t ) = pi (t ) + fi (t )
Wireless Network Power Control
Sliding surface si (t ) = γ i (t ) − γ =0
tar
i
Discrete-time representation
si (k + 1) = si (k ) + Tui (k ) + d (k ) + v(k )
Discrete-time SMC (continuous)
1 1
ui (k ) = − si (k ) − (d (k − 1) + v(k − 1))
T T
Stability analysis
+ ⎡ 1 T⎤
⎡ i
s ( k 1) ⎤ ⎢ ⎥ ⎡ si (k ) ⎤ − ⎡1 ⎤ 1 (d (k ) + v(k ))
⎢u (k + 1) ⎥ = ⎢ 1 ⎢ ⎥ ⎢ ⎥
⎣ i ⎦ − −1⎥ ⎣ui (k ) ⎦ ⎣ 2 ⎦ T
⎣ T ⎦
⎡z −1 −T ⎤
det ⎢ 1 ⎥ = z2 = 0
⎢ z + 1⎥ Princeton/Central Jersey Section of IEEE
⎣ T ⎦ 2008/11/17 - Circuits and Systems Chapter Meeting 48
Contents (2/2)

Extended Research Problems
x(0)
u+
−
Sliding Surface: s = 0
u
Singularly Perturbed Systems VSS
Quasi-steady state (slow mode) Sliding mode
Fast mode Reaching phase
Continuous control Discontinuous control
Infinite-time reaching Finite-time reaching
(boundary layer)
Heat Conduction System :
U t ( x, t ) = αU xx ( x, t ) + βU ( x, t )
x=l
Boundary conditions U (0, t ) = 0

x=0
U (l , t ) = Q(t ) + f (t )
Kernel function
k ( x, y )
wt = α wxx − cw
U ( x, t ) w( x, t ) w(0, t ) = 0
w(l , t ) = Q(t ) + f w (t )
Sliding surface:
S (t ) = ω x (l , t ) = 0 x=0 x=l
Kernel function : k ( x, y ) = −λ y
I1 ( λ ( x2 − y 2 ) )
λ ( x2 − y 2 )
wt = α wxx − cw
U ( x, t ) w( x, t ) w(0, t ) = 0
w(l , t ) = Q(t ) + f w (t )
Sliding surface: S (t ) = wx (l , t ) = 0
l
S (t ) = U x (l , t ) − k (l , l )U (l , t ) − ∫ k x (l , y )U ( y, t ) dy
0
Sliding Mode Control:

t
Q(t ) = − K m ∫ sgn( S (τ ))dτ
0

Conclusions
y Merits of VSS
◦ Robustness (against disturbances and system
parameter variations)
◦ Reduced-order system design
◦ Simple control structure
◦ Fits switching power electronics control

Conclusions
y Chattering Reduction (Elimination)
◦ Discrete-Time Sliding Mode
◦ Filtering methods
y Interesting Problems
◦ Output feedback
◦ Singular Perturbations
◦ Infinite-dimensional systems
◦ Systems with delays (e.g. wireless network)
Thank You!
http://www.chneic.sh.cn/

Sliding Mode Control

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PRINCETON/CENTRAL JERSEY SECTION OF IEEE – CIRCUITS AND SYSTEMS

Sliding Mode Control with

Department of Electrical and Computer Engineering

Princeton/Central Jersey Section of IEEE

to drive the state to the target.

Princeton/Central Jersey Section of IEEE

Princeton/Central Jersey Section of IEEE

to fill oil into a bottle through a funnel

New target: s = x1 + x2 = 0 s=0

sliding mode: v ≡ 0 (if f a < K ).

Princeton/Central Jersey Section of IEEE

Princeton/Central Jersey Section of IEEE

New target: s = x1 + x2 = 0 s=0

Switching line : s = cx1 + x2 = 0

⎧α x1 , if x1s > 0 (region I)

Princeton/Central Jersey Section of IEEE

New target: s = x1 + x2 = 0 s=0

Switching line : s = cx1 + x2 = 0

⎧α x1 , if x1s > 0 (region I)

ii. Sliding condition (sufficient, local)

Princeton/Central Jersey Section of IEEE

- Reaching condition s < −σ sgn( s), σ > 0

Discrete-time sliding mode k

Princeton/Central Jersey Section of IEEE

Discrete-time O(T 2 ) sliding mode control

Princeton/Central Jersey Section of IEEE

4-phase, 8/6-pole SRM

Princeton/Central Jersey Section of IEEE

Princeton/Central Jersey Section of IEEE

Control System Setup

Princeton/Central Jersey Section of IEEE

System setup: ITRI (Industrial Technology Research Institute), Taiwan, R.O.C.

Princeton/Central Jersey Section of IEEE

Princeton/Central Jersey Section of IEEE

Princeton/Central Jersey Section of IEEE

Princeton/Central Jersey Section of IEEE

Princeton/Central Jersey Section of IEEE

Control objective: γ i (t ) → γ i tar

Logarithmic scale representation

Princeton/Central Jersey Section of IEEE

Boundary conditions U (0, t ) = 0

Sliding Mode Control:

Princeton/Central Jersey Section of IEEE

◦ Reduced-order system design

◦ Simple control structure

◦ Fits switching power electronics control

Princeton/Central Jersey Section of IEEE

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- Reaching condition s < −σ sgn( s), σ > 0