A tutorial account of variable structure control with sliding mode is presented. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent characteristics such as invariance, robustness, order reduction, and control chattering are discussed in detail. Methods for coping with chattering are presented. Both linear and nonlinear systems are considered. Future research areas are suggested and an extensive list of references is included. >

Variable structure control: a survey

Two approaches to hyperplane design in multivariable variable structure control systems

Adaptive control has been recognized as an effective approach for mechanical robot manipulator controller design due to the presence of nonlinearties and uncertainties in robot dynamic models. Numerous results addressing different aspects of the control problem have been reported in the literature in recent years. The purpose of this paper is to present an indepth review of these existing developments whereby the robot adaptive control problems and solutions are systematically studied. The essential overall objective is to unify the various design ideas under a common frame work. Within this frame work, the various design techniques are catagorized into three groups; (i) model-reference adaptive control, (ii) Self tuning adaptive control, and (iii) Linear perturbation adaptive control. The design conditions and solutions of each technique are discussed, and the relationships between these techniques are examined. Finally some remarks on the effectiveness and implementation of adaptive controllers are presented.

Adaptive control of robot manipulators - A review

Robust Control of Robotic Manipulators

Paper: Nonlinear adaptive model-following control

Hyperstable adaptive model following control of nonlinear plants

A novel approach to the analysis of modulation processes in power convertors is developed. The single harmonic components of the modulator output spectrum are given in terms of series with fast convergence rate. The method set forth is based on the theory of the Kapteyn series. Both the cases of rational and irrational frequency ratio are treated and some typical peculiarities of the modulation processes are stressed.

http://ieeexplore.ieee.org/iel5/5247218/5252726/05252742.pdf

G. de Maria

Papers

Hyperstable adaptive model following control of nonlinear plants

Analysis of modulation processes in power convertors

Adaptive model following control systems for a class of nonlinear multivariable plants