Constraining State Variables and Control Signal via Sliding Mode Control Approach

Abstract

In this paper the issue of constraining the control input and the state variables in continuous-time systems via sliding mode control was considered. The sliding mode controller was designed using the reaching law technique. Further, the time-varying convergence rate was selected so that the fastest, finite-time, monotonic convergence of the state to the predefined sliding hyperplane simultaneously satisfying both control input and state limitations is ensured. Sufficient condition that guarantees these properties was presented and proved.