A comparison study of conventional non-smooth time-invariant and novel smooth time-varying robust compensators

Variable structure based robust compensators are general approaches to deal with uncertain nonlinear dynamic systems. The bang-bang (discontinuous type) compensator and the saturation (continuous type) compensator are two commonly used robust compensators utilizing variable structure techniques. This paper presents the comparison study of these two non-smooth time-invariant robust compensators with a novel smooth time-varying compensator and reveals the superiority of the novel smooth time-varying compensator over the non-smooth robust compensators