What is sliding mode controller?

Sliding mode control is a type of control methodology that is used to stabilize the system. This method is typically used for controlling non-linear systems, as it can help minimize the effects of uncertainities or disturbances by ensuring that the system follows a certain boundary. In a sliding mode control, a sliding surface is defined that the system is forced to slide along in order to reach the desired state.

Sliding mode controllers are composed of two parts: a sliding surface and a control law. The sliding surface is used to monitor the system and identify when the system deviates from the desired state. When this happens, the control law is applied to bring the system back into the desired state.

The main advantage of sliding mode control is that it is robust to parametric uncertainties and external disturbances. It also has fast response time and high accuracy, even in the presence of noise and other disturbances. However, sliding mode control can be difficult to design, as choosing the appropriate sliding surface and control law requires a deep understanding of the system dynamics. Additionally, sliding mode controllers have discontinuous signals, which can cause problems when implementing them in real-world systems.