Abstract
A novel global sliding-mode control (GSMC) scheme with adjustable robustness is presented in this article. The proposed scheme offers a switching function together with unperturbed system dynamics to weigh the contribution from SMC such that all of the closed-loop poles can be located within predefined regions to provide design flexibility, and the robustness of system can thus be adjusted. By this scheme, the maximal control effort and chattering level can be reduced according to designer's specifications directly. Since the switching function can initially be made to equal to zero, the adjustable performance during the entire response can be guaranteed, and the reaching condition is thus lifted. The efficacy of this scheme is demonstrated via successful implementation on a linear variable reluctance motor (LVRM) servo system. Both simulation and experimental studies further demonstrate its feasibility and effectiveness.
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