Abstract
Sliding mode is considered as the efficient tool to control high order nonlinear dynamic plants operating under uncertainty conditions. The reason is twofold: decoupling the design problem into two independent subproblems of lower dimension and low sensitivity with respect to unknown time varying parameters and disturbances. Assuming that the range of variations is known only the discontinuous control is selected such that sliding mode is enforced for all possible values from this range. The discontinuous control should be replaced by the equivalent control, depending on uncertainties, to write down the sliding mode equations. This function can be easily obtained by a low pass filter with discontinuous control as an input. As a result, additional information can be obtained about plant dynamics and utilized for improving control processes, to design adaptive control and state observers, to control switching frequency in power converters for reducing heat losses, to minimize chattering amplitude. The set of these problems is discussed in the paper.
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