Sliding Mode Controller

Hysteresis-based sliding mode control

• 

Libraries:
Simscape / Electrical / Control / General Control

Description

The Sliding Mode Controller block implements hysteresis-based sliding mode control (SMC).

The sliding mode controller has this structure.

In this controller, lambda is the value of the Sliding factor parameter. To change the convergence speed of the error to zero, specify a value greater than 0 for the Sliding factor parameter.

Ports

Input

r — Plant reference

scalar

Plant system reference signal.

Data Types: single | double

y — Plant output

scalar

Plant system output signal.

Data Types: single | double

Output

u — Controller output

scalar

Control system output signal.

Data Types: single | double

Parameters

Sliding factor — Sliding factor

1 (default) | nonnegative scalar

Since R2024b

Sliding factor that affects the convergence speed of the error to zero.

Hysteresis band — Total hysteresis bandwidth

0.2 (default)

Total hysteresis bandwidth, distributed symmetrically about the set point.

Control action upper limit — Control signal upper limit, u_max

10 (default) | scalar greater than the value of the Control action lower limit parameter

Upper limit for the control output signal.

Control action lower limit — Control signal lower limit, u_min

-10 (default) | scalar

Lower limit for the control output signal.

Sample time (-1 for inherited) — Block sample time

-1 (default) | positive scalar

Time, in s, between consecutive block executions. During execution, the block produces outputs and, if appropriate, updates its internal state. For more information, see What Is Sample Time? and Specify Sample Time.

If this block is inside a triggered subsystem, inherit the sample time by setting this parameter to -1. If this block is in a continuous variable-step model, specify the sample time explicitly using a positive scalar.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2018a

R2024b: Specify the sliding factor of the controller

You can now specify the value of the sliding factor of the controller by using the Sliding factor parameter. The Sliding factor parameter affects the speed of the convergence of the error to zero, allowing you to obtain the desired response faster.