Sliding Mode Control and Observation

1. Classical Sliding Mode Control

• Variable structure systems

• Motivating practical examples

• Design of sliding mode control

• Filippov's solution

• Utkin's equivalent control

2. Discrete-Time (DT) Sliding Mode

• Understanding DT sliding mode

• Quasi sliding mode

• Design of DT sliding mode controllers

• Multirate output feedback based DT sliding mode

3. Special Sliding Mode Controllers

• Integral sliding mode control

• Terminal sliding mode control

4. Sliding Mode Observers

• State estimation via sliding mode

• Different sliding mode observers

5. Introduction to High-Order Sliding Mode

• Relative degree and sliding order

• Homogeneity and its application

• Finite-time stability via homogeneity

• Chattering avoidance

• Higher-order sliding mode differentiator

6. Second-Order Sliding Mode

• Super-twisting controller

• Twisting controller

• Prescribed convergence law

• Sub-optimal controller

• Quasi-continuous controller

7. Higher Order Sliding Mode in Discrete-Time

• Relative degree in DT

• Reaching law based design