Multiple surface sliding control

Andrew Alleyne

Research output: Contribution to conferencePaperpeer-review


This paper investigates the control of a class of nonlinear systems whose relative degrees are greater than one. The relative degree of a system can be defined as the number of times the system output must be differentiated in order to generate an explicit relationship between the output, and the system input. The control approach to be implemented is a robust version of Feedback Linearization known as Sliding Control and it is applied to SISO systems here. The standard approach to controlling systems with relative degree (r) greater than one is to use a sliding controller with an (r-1)th order sliding surface. An alternative approach, presented here, is to separate the sliding controller into (r-1) sliding surfaces and control each one individually. The entire closed loop system is then analyzed for stability.

Original languageEnglish (US)
Number of pages7
StatePublished - 1994
Externally publishedYes
EventProceedings of the 1994 International Mechanical Engineering Congress and Exposition - Chicago, IL, USA
Duration: Nov 6 1994Nov 11 1994


OtherProceedings of the 1994 International Mechanical Engineering Congress and Exposition
CityChicago, IL, USA

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering


Dive into the research topics of 'Multiple surface sliding control'. Together they form a unique fingerprint.

Cite this