Design of first order approximation filters applied to sliding mode control

Abstract

The design of nonlinear filters applied to sliding mode control systems is considered. The focus is on the synthesis of first order filters which generate approximations for upper bounds of the norm of signals in multivariable sliding mode control systems. Two approximation methods are described: (i) a Lyapunov based scheme which is simple but may result in conservative upper bounds and (ii) an optimization method which minimizes the upper bound.