Adaptive second-order sliding mode control of singularly perturbed systems

Abstract

A new adaptive second-order sliding mode control algorithm is proposed for singularly perturbed systems. Given fast sensor dynamics, in series with the plant, are used as study case. The main result shows that by adequate selection of the control parameters and, establishing a clear time-scale separation between plant, sensors and adaptive SMC dynamics, the closed-loop system can converge to a small neighborhood of the origin. Simulation results on a verified Maglev model are presented to show the effectiveness of the proposed approach.