Frequency-domain Design of Compensating Filters for Sliding Mode Control Systems

It is known that a sliding mode (SM) control system perturbed by parasitic dynamics exhibits the "real" SM. The real SM features finite frequency switching (chattering) and the averaged motions being different from those in the reduced-order model. Yet, chattering and the averaged motion - being two components of the motion in the SM system - belong to two different frequency ranges (spectra). As a result, some kind of frequency characteristic shape compensation aimed at achieving the desired frequency of chattering and enhancing the dynamics of the averaged motions becomes possible. This research is the subject of the present paper