A continuous finite-time controller in the sliding mod

Much of the literature devoted to sliding mode control that has been published in the last few years has dealt with the problem of minimizing the chattering that is inherent in any switched control. While bang-bang controls are the norm in industry, engineers and the mathematicians that support them are pursuing avenues of control strategy that can alleviate the detrimental aspects of the behavior of a discontinuous controller. Several continuous controller designs have been proposed, including controls that maintain the capacity to reach their destination in finite time. Their applicability is somewhat restricted unless we return to a conventional sliding mode. This thesis examines the benefits of using finite time continuous controllers in conjunction with a conventionally designed sliding mode control. An analysis of the robustness to perturbations and modelling uncertainties is included and a comparison to other continuous controllers is made. Finally, an example of its effectiveness in robust chatter-reduced tracking is presented.