Adaptive robust methods to design a smooth integral variable structure controller

Presents adaptive robust methods to design a smooth integral variable structure controller for perturbed single-input-single-output systems. The proposed control methods are the extension of existing approaches using a μ-modification scheme which achieves smooth control efforts while ensuring the uniform tracking error bound with designated accuracy. The proposed scheme also works for some classes of non-minimum phase systems. Two examples are given to demonstrate the effectiveness of the proposed methods