First, search the web. There is a good pdf file on sliding mode control for
Nasa space stations. There is also one on sliding mode for retrentry
vehicles. There is a book "Sliding Mode Control in Electromechanical
Systems" by Vadim Utkin, Jurgen Guldner and Jingxin Shi.. My copy of this
book had pages missing. The key chapter was using Ackermann's formula to
find the coefficient for the sliding mode manifold. There is another book
that I don't have by Utkin and Ackermann. That may be the best book to buy.
I think the key is to know how to calculate the gains using Ackermann's
formula and to know how to implement observers so that chattering can be
I also have a SMC temperaure simulation at:
The simulation was meant to show there are simpler and better alternatives
to using PID for temperature control. The simulation does show how sliding
mode is robust, but it does not show the proper way to calculate the
coefficients for calculating the coefficients for calculating s using
Akermann's formula. The temperature control simulation just happens to be a
special case where the coefficients for calculating s is intuitively
The simulation is of a wood burning iron. Some one was trying to control the
temperature of this iron using a PID on a Allen Bradley PLC. The time
constants and gains were provided by using Rockwell,s auto tuining package.
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