Tensor Product Model Transformation-based Sliding Surface Design

Motion control has been a fruitful ground for applying Variable StructureSystems (VSS) theory. This paper provides an assessment of the state of the art of therelevant theoretical results for sliding mode control. The design of a sliding-modecontroller consists of three main steps. First step is the design of the sliding surface, thesecond step is the design the control law which holds the system trajectory on the slidingsurface, and the third and key step is the chattering-free implementation. The maincontribution of that paper is a new method for sliding surface sector design based on tensorproduct (TP) model transformation to reduce the chattering.