Design of Sliding Mode Controller with Uncertainty Adaptation

  • Kim, Min-Chan ;
  • Nam, Jing-Rak ;
  • Park, Seung-Kyu ;
  • Kwak, Gun-Pyong
  • Published : 2006.09.30


In this paper, a sliding mode control method with uncertainty adaptation is proposed by introducing the virtual state. Because upper bound of the uncertainty is very difficult to know, we estimate this by using the simple adaptation law and design the sliding surface which has dynamic of nominal system. An optimal controller is used by nominal controller. And if initial values of the virtual state are chosen properly, the reaching phase is removed.


Robust control;Sliding Mode Control;Parameter Adaptation


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