Inherent gain margins of first- and second-order sliding-mode control systems

Abstract

In this paper, an attempt is made to analyze first-order and second-order sliding-mode (SM) control systems from the perspective of the gain margins of the averaged dynamics resulting from the existence of chattering. Analysis is done via the describing function method. First-order SM, hysteresis relay control, twisting algorithm and sub-optimal algorithm are compared in terms of the gain margins of the averaged dynamics that can describe the propagation of external signals through a SM control system.