Introduction to sliding mode control

This chapter summarizes the basic concepts used in the design of sliding mode controllers, from the definition of conventional sliding set, and the main concept of sliding motion, to the design of the advanced robust exact high-order sliding modes differentiator. These pages describe the basis on which the methodologies presented along the book are designed, with this aim a short historical background is presented in Section 1.1, the main concepts related to the sliding mode theory are presented in Section 1.2. Section 1.3 describes the design process applied to the manifold, which restricts the movement of the state trajectories during the sliding motion. The basis of the design of standard sliding mode controllers are presented in Section 1.4. The main second-order sliding-mode algorithms are presented in Section 1.5 and the robust-exact high-order sliding-mode differentiator is described in Section 1.6.