The Continuous System Equivalent to the System with Sliding Mode Control

AbstractIt is shown how to create the continuous system equivalent to the system with sliding mode control. In the case of minimum phase plants, the system arises from the replacement of the relay by some appropriate saturation-type nonlinearity. The latter may be implemented using the amplifier with high gain and saturation with constraints of the control determined by the switched magnitudes of the relay. In the case of nonminimum phase plants it is noted that similar equivalence exists for the continuous and relay system with parallel compensator. The latter system may be treated as the system with modified sliding mode control. In the equivalent continuous system the chattering effect, related with sliding mode control doesn't exist.