Sliding Surface Selection for Saturated Sliding-Mode Control of Linear Time-Invariant Plants

The design of sliding-mode controllers with continuous control signals in the presence of saturated actuators is a challenging task. This paper analyzes existing formal assumptions required by such designs, and proposes a new controller design that is applicable for a large class of linear time-invariant plants. The proposed design is based on the suitable selection of a sliding surface, to which the conditioned super-twisting algorithm is then applied. Stability conditions for the closed loop in presence of perturbations with bounded amplitude and slope are given. Simulation results obtained with the model of a continuous flow heater for silicon wafer processing illustrate the presented approach.