Optimal sliding mode control for underactuated systems

Mehdi Nikkhah, Hashem Ashrafiuon, Kenneth R. Muske

Research output: Chapter in Book/Report/Conference proceedingConference contribution

37 Scopus citations


This paper introduces a novel method based on nonlinear predictive control to design optimal linear surfaces for sliding model control of underactuated nonlinear systems. The time-invariant parameters of the linear first-order surfaces are selected to achieve some optimal performance objective, such as minimum time or minimum energy. The selection of these surface parameters are subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as control input saturation. The procedure is demonstrated using the inverted pendulum on a cart as an illustrative example.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
Number of pages6
StatePublished - Dec 1 2006
Externally publishedYes
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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