A new type of sliding mode controller scheme, which requires no knowledge of system model, is derived in this work. The controller is solely based on previous control inputs and state measurements to generate the updated control input effort. The only knowledge required to derive the controller is the system order and the bounds of the control input gain, if one exists. The switching gain, which is required to drive the system states onto the sliding surface in the presence of disturbances and uncertainties, is derived using Lyapunov’s stability theorem, ensuring closed-loop asymptotic stability. The chattering effect, which is excited by the switching gain due to high activity of the control input, is reduced by using a smoothing boundary layer into the control law form. Simulations are performed, using first and second-order, linear and nonlinear systems, to test the performance of the new control law. In the last part of this work, the problem with state measurement noise is addressed. Results of the simulations validates the feasibility of the proposed control scheme.

Library of Congress Subject Headings

Sliding mode control; Lyapunov stability

Publication Date


Document Type


Student Type


Degree Name

Electrical Engineering (MS)

Department, Program, or Center

Electrical Engineering (KGCOE)


Agamemnon Crassidis

Advisor/Committee Member

Jason Kolodziej

Advisor/Committee Member

Sergey Lyshevski


Physical copy available from RIT's Wallace Library at TJ220.5 .M48 2016


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