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Moving sliding surfaces for high-order variable
structure systems
Dong-Won Park & Seung-Bok Choi
Published online: 08 Nov 2010.
To cite this article: Dong-Won Park & Seung-Bok Choi (1999) Moving sliding surfaces for high-order variable
structure systems, International Journal of Control, 72:11, 960-970, DOI: 10.1080/002071799220506
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Moving sliding surfaces for high-order variable structure systems
DONG-WON PARK

* and SEUNG-BOK CHOI

Amoving sliding surface (MSS) was proposedearlier for the second-order variable structure control system(VSCS). The
MSS was designed to pass arbitrary initial conditions, and subsequently moved towards a predetermined sliding surface
by rotating and/or shifting. This methodology led to fast and robust control responses of the second-order VSCS,
especially in a reaching phase. However, the moving algorithm of the MSS was too complicated to be employed for
the high-order VSCS. To resolve this problem, a newmoving algorithmbased on fuzzy theory is proposed in this paper.
For the generalization of the MSS, the conditions for rotating or shifting are rstly investigated. Then the fuzzy algor-
ithmis formulated by adopting the values of the surface function and the total discontinuity gain as input variables and
the variation of the surface functionas output variable. The eciency of the proposed moving algorithmis illustrated by
applying it to the position control problemof an electrohydraulic servomechanism.
1. Introduction
The sliding mode, which can be obtained by an
appropriate discontinuous control law, is the principal
operation mode in the variable structure control system
(VSCS). In the sliding mode, the trajectory of the state
vector belongs to the hyperplane of lower dimension
than that of the whole state space. Thus, the order of
dierential equations describing sliding motions is also
reduced. This allows the initial control problem to be
decoupled into two independent lower dimensional sub-
problems; the controller is activated only for creating
the sliding mode, while the required characteristics of
the motion over the intersection of the hyperplanes are
provided by a suitable choice of their equations.
Consequently, the design of the sliding hyperplanes is
very important as well as the design of the controller.
Thus, the design method for the sliding hyperplane has
been investigated in several ways (Utkin 1978,
Ashchepkov 1983, Dorling and Zinober 1986,
Harashima et al. 1986, Chang and Hurmuzlu 1992,
Park and Lee 1993, Choi and Park 1994, Ackermann
and Utkin 1994, Guldner and Utkin 1996).
The robustness of the VSCS can be improved by
shortening the time required to attain the sliding
mode, or may be guaranteed during whole intervals of
control action by eliminating the reaching phase.
Among many methods to minimize the reaching
phase, the simplest one is to employ a large control
input. However, this will cause higher chattering,
which is undesirable in a physical system, and also
extreme sensitivity to unmodelled dynamics. Most of
the sliding surfaces proposed so far have been designed
without consideration of initial conditions, whether
given or arbitrary. This can make the VSCS very sensi-
tive to extraneous disturbance and parameter uncer-
tainty during the reaching phase.
The time-varying sliding surface in the state-space
was introduced to maintain the sliding mode during
tracking control (Utkin 1978). Recently, some research-
ers introduced a few kinds of time-varying sliding sur-
faces in the error-space, but most of those sliding
surfaces use time-varying intercepts of the sliding sur-
faces (Chang and Hurmuzlu 1992, Park and Lee 1993,
Ackermann and Utkin 1994, Gulder and Utkin 1996).
In addition, these methods needmodicationof the con-
trol law and hence require a larger control input than
that of the VSCS with a conventional sliding surface.
Harashima et al. (1986) suggested a time-varying sliding
surface toimprove the robustness, whichwas realizedby
several sliding lines with dierent slopes. The robustness
was improved by the chattering action at each sliding
line. However, they did not study whether faster control
responses could be obtained by proper rotation of the
sliding surface.
Choi et al. (1993) suggested a moving sliding surface
(MSS) to improve the performance and robustness of
the second-order VSCS. The MSS was designed to
pass the initial conditions at rst and subsequently
movedtowards a predetermined sliding surface by rotat-
ing and/or shifting. Employing the MSS, it was possible
to lessen the sensitivity of the systemto extraneous dis-
turbances by means of shortening the reaching phase
without increasing undesirable chattering of the control
signals. Furthermore, the reaching phase can be almost
eliminatedbyincreasing the dwelling time of the surface,
hence guaranteeing system robustness during whole
intervals of control action. It has also been shown that
the MSS could be applied to both single-input and
multi-input systems.
There are many superiorities of the VSCS with the
MSS such as fast tracking performance, short reaching
International Journal of Control ISSN00207179 print/ISSN 13665820 online 1999 Taylor &Francis Ltd
http://www.tandf.co.uk/JNLS/con.htm
http://www.taylorandfrancis.com/JNLS/con.htm
INT. J. CONTROL, 1999, VOL. 72, NO. 11, 960970
Received 10 June 1997. Revised 1 December 1998.

Department of Mechanical Engineering, Inha University,

Incheon 402-751, South Korea.
*Author for correspondence.
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phase and so on. However, the movement of the MSS
proposed by Choi et al. (1993) depends on exact calcula-
tions of the surface equations to make the surface func-
tion have a value in a certain range. Hence, the
generalization of the MSS to higher-order systems is
restricted by the complexity of the equations. To resolve
this problem, a simplied moving algorithm based on
fuzzy theory is proposed in this paper. In other words,
this work is an extension of the MSS for the second-
order VSCS to the MSS for high-order variable struc-
ture systems. This algorithm uses the values of the sur-
face function and the discontinuity gain as the fuzzy
input variables, andthe variationof the surface function
as the fuzzy output variable. The translation of the vari-
ation of the surface function to the variation of the
intercept or the desired eigenvalue is also studied. In
the second-order case, we shift the sliding surface if
the representative point (RP) is inthe rst or thirdquad-
rants, and rotate otherwise. Since the conditions for the
determination of manner of motion are indispensable
for the generalization of the MSS, they are thoroughly
investigatedinthis paper. As a result, specic conditions
for third-order and fourth-order systems are derived.
The electrohydraulic servomechanism, which is mod-
elled as the third-order system, is adopted to demon-
strate the eciency of the proposed methodology.
2. Review of variable structure control system
2.1. Controller design
Consider an nth-order single-input non-linear con-
trollable canonical formsystem given by

x
1 =
x
2

x
2 =
x
3
.
.
.

x
n =
p
i
=
1
f
i
(
x, t) +
q
i
=
1
da
i
g
i
(
x, t) + b(
x, t)u(t) + d(t)
(1)
where x
(t)
2 R
n
is the state vector andu(t) is the control
input. The da
i
g
i
(
x, t) represents the plant uncertainty
and d(t) denotes the external disturbance. These are
unknown but possibly bounded. It is well known that
a multi-input multi-output (MIMO) non-linear system
can be I/O (input/output) linearized, and can be
decoupled if it has some (vector) relative degree at a
point x
=
x
0
(Isidori 1985). Therefore the MIMOnon-
linear system can be expressed in the form of equation
(1) (Elmali and Olgac 1992). The control problem is to
get x
(t)
=
[x
1
(t), . . . , x
n
(t)]
T
to track a desired trajectory
x
d
(t)
=
[x
d1
(t), . . . , x
dn
(t)]
T
which belongs to the class of
C
1
functions on [t
0
, 1). In other words, the variable
structure control law should force the tracking error to
be asymptotically zero for arbitrary initial states. Thus,
we dene the tracking error as
e
(t)
=
[e
1
(t), . . . , e
n
(t)]
T
=
[x
1
(t) x
d1
(t), . . . , x
n
(t) x
dn
(t)]
T
(2)
We dene the sliding surface as fe 2 R
n
j s(
e
)
=
0g,
and we denote
s(
e
)
=
ce
=
n
i
=
1
c
i
e
i
, c
n =
1 (3)
The coecients of the sliding surface for a high-order
system can be determined by the set of desired eigen-
values f
1
,
2
, . . . ,
n1
g (Chern and Wu 1991). Let p()
be the desired characteristic polynomial, i.e.
p()
=
n1
i
=
1
(
i
)
=

n1
+ d
n2

n2
+ + d
1
+ d
0
(4)
Then, to make the VSCS have the desired eigenvalues
during the sliding mode, we choose the coecient vector
of the sliding surface c as follows
c
=
[d
0
d
1
. . . d
n2
1] (5)
If the directions of motion along every trajectory of
either side of the sliding surface are toward this surface,
the RP remains on the surface, i.e. sliding motion
occurs. Thus, the condition for the existence of sliding
motion in the vicinity of the sliding surface s(
e
)
=
0 is
s(
e
)

s(
e
) < 0 (6)
The system satises the following condition under the
ideal sliding motion
s(
e
)
=
0 (7)
Then, the system has invariance properties against ex-
ternal disturbances and parameter uncertainties
(Drazenovic 1969).
To formulate a control law that assures condition
(7), we assume that the uncertainties are bounded as
follows
da
i
(t)
2
(l
da
i
, h
da
i
), i
=
1, . . . , q
d(t)
2
(l
d
, h
d
)
(8)
Then, a simple manipulation shows that the sliding
mode motion of system(1) will occur if we use the fol-
lowing control law (Jayasuriya and Choi 1987)
Moving sliding surfaces 961
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u(t)
=
k +
q
i
=
1
j
~
g
i
(
x, t)
j sgn(s)
p
i
=
1
f
i
(
x, t)

q
i
=
1
g
i
(
x, t)
n1
i
=
1
c
i
e
i+1
+

x
dn
[b(
x, t)] (9)
where
g
i
(
x, t)
=
a
i
g
i
(
x, t), a
i =
(l
da
i
+ h
da
i
)/ 2
~
g
i
(
x, t)
=
~
a
i
g
i
(
x, t),
~
a
i =
h
da
i
a
i
k > max(
jl
d
j , jh
d
j
)
(10)
2.2. Moving sliding surface for the second-order VSCS
As mentioned in the Introduction, the performance
of the VSCS associated with the conventional sliding
surface (3) is very sensitive to the surface coecient c
i
,
the discontinuity gain k and the initial conditions. To
observe this, we consider the nominal control systemof
(1) and (9) in the second-order case. Then the tracking
problemreduces to the following equations

e
1 =
e
2

e
2 =
ce
2
ksgn(s(
e
))
(11)
We see fromthe second equation of (11) that if the RP
lies in the stable zone (the second and fourth quadrants)
the absolute value of e
2
becomes small for a xed gain k
as we choose a larger value for c. A large value of c will
yielda longer reaching time of the RPto the surface. On
the other hand, if we choose a small value for c, it will
take a long time to track because of the slow conver-
gence speed on the surface. Therefore, we can nd an
optimal (xed) sliding surface for an initial condition
(Choi and Park 1994). Further, if we choose an appro-
priate time-varying slope according to the trajectory of
the RP, we can obtain faster and more robust control
responses of the systemthan those of the systemhaving
an optimal xed sliding surface.
Toachieve this, the moving sliding surface (MSS) for
the second-order VSCS was proposed as follows (Choi
et al. 1993)
s
m
(
e, t)
=
c(t)e
1
(t) + e
2
(t) a(t) (12)
The MSS was initially designed to pass arbitrary initial
error states, and subsequently moved towards a prede-
terminedsliding surface. The movement canbe executed
by rotating and/or shifting. The rotating is associated
with the time-varying slope (c(t)) of the surface, which
belongs to a step function (see Apostol 1974) or piece-
wise constant function, whereas the shifting is accom-
plished by employing the time-varying intercept (a(t))
of the surface which also belongs to a step function.
Figure 1 illustrates the two patterns of movement of
the sliding surface: rotating and shifting.
For the second-order system, the conditions for
rotating or shifting can be determined from intuition.
If the initial conditions are located in the unstable
zone, the surface is shifted until the RP moves to the
stable zero, and subsequently the surface is rotated
throughout. If the initial RP is in the unstable zone,
962 D.-W. Park and S.-B. Choi
Figure 1. Illustrattionof twotypes of moving sliding surface:
(a) rotating sliding surface; (b) shifting sliding surface.
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the RP cannot converge to the origin without entering
the stable zone. This moving algorithm depends on
exact computations of the surface equation, which
make the surface function remain in a certain vicinity
until the MSS reaches the predetermined surface.
However, the equations for high-order systems are too
sophisticated to be solved repeatedly during the period
of rotation or shift. Therefore, a new moving algorithm
is to be established for the generalization of the MSS.
3. Moving sliding surface for a high-order VSCS
The MSS (12) can be generalized for the control
system(1) as follows
s
m
(
e, t)
=
n
i
=
1
c
i
(t)e
i
(t) a(t), c
n =
1 (13)
where c
i
(t) and a(t) are step functions. It is noted that
since c
i
(t) and a(t) are piecewise constant, the controller
(9) associated with (13) satises the sliding mode con-
dition (6) at almost all times (Choi et al. 1993). To sim-
plify the rotating procedure, the sliding surface is
assumed to have equal time-varying desired eigenvalues.
Then, c
i
(t) becomes
c
i
(t)
=
n 1
i 1
(
d
(t))
ni
=
(n 1)
!
(
d
(t))
ni
(i 1)
!
(n i)
!
,
i
=
1, . . . , n 1 (14)
Now, the sliding surface (13) can be rotatedby changing
the desired eigenvalue
d
(t), and can be shifted by
adapting the intercept a(t). In the second-order case,
we rotate the sliding surface when the RPis in the sec-
ond or fourthquadrant. In the high-order case, it is very
dicult todetermine whether rotating or shifting should
be executed. Thus, the conditions for rotating or shifting
are, rstly, to be investigated. Then, a new fuzzy algor-
ithmis proposed to determine appropriate
d
(t) or a(t).
Using the proposed algorithm, we can rotate or shift the
sliding surface from the initial surface to the predeter-
mined surface, maintaining the RP in a certain vicinity
of the surface.
3.1. The conditions for rotating or shifting
The dynamics of the system in the sliding mode is
ruled by the sliding hyperplane. Hence, the error-state
equations of the sliding mode are

e
1 =
e
2

e
2 =
e
3
.
.
.

e
n =
c
1
e
2
c
2
e
3
c
n1
e
n
(15)
The system (15) has a zero-eigenvalue, which does not
appear in the sliding mode. Thus, the dimension of the
characteristic equation reduces to n 1 (Dorling and
Zinober 1986). Therefore, the characteristic equation
of the system in the sliding mode is
p()
=
n1
i
=
1
(
di
)
=

n1
+ c
n1

n2
+ + c
2
+ c
1
(16)
Let us assume that the desired eigenvalues of the sliding
surface are the same, i.e.
di

d
for i
=
1, . . . , n 1.
The characteristics of the systeminthe sliding mode can
be determined by the desired eigenvalue
d
. However,
we can obtain better control response by changing the
value of
d
, i.e. by rotating the sliding hyperplane. We
should maintain the RPin a certain vicinity of the slid-
ing hyperplane to get fast and robust control responses
during the rotation. To nd an appropriate value of
d
for a certain time t, we rewrite the characteristic equa-
tion of an nth-order system in the sliding mode (16),
using the polynomial of
d
as follows
f (
d
, t) q
n1

n1
d
+ + q
1

d
+ q
0
(17)
where
q
ni =
(1)
i1
(n 1)
!
(i 1)
!
(n i)
!
e
i
(t) (18)
If equation (17) has a negative real root for the state
variable of the system, there is a sliding hyperplane
which guarantees the stability of the VSCS and crosses
the RP. We rotate the sliding hyperplane fromthe initial
RP to the predetermined sliding hyperplane, maintain-
ing the RPin a certain vicinity of the sliding hyperplane.
If equation (17) does not have any negative real roots,
the sliding surface should be shifted to the predeter-
mined sliding surface until (17) has a negative real
root, so as not to obstruct the stability of the system
during the reaching phase.
If the sliding mode controller is designed to satisfy
the sliding mode condition strictly, the sliding hyper-
plane should not rotate or shift in the reverse direction.
Hence, the initial sliding hyperplane moves to the pre-
determined sliding hyperplane by a nite amount and in
a nite time of movement. It is obvious that a nite time
of nite movement of the stable sliding hyperplane does
not aect the stability of the variable structure control
system(Choi et al. 1993, Filippov 1964). In other words,
the stepwise variation of
d
guarantees the stability of
the variable structure control systemif
d
is negative.
In the case that the polynomial f (
d
) is odd-ordered,
there is a negative real root if the signs of the coecient
of the highest-order termand the intercept are the same.
On the other hand, when the polynomial f (
d
) is even-
ordered, there is a negative real root if the signs of the
Moving sliding surfaces 963
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coecient of the highest-order term and the intercept
are dierent. Since the sign of q
0
in (17) alternates as
the order increases, we can obtain the following con-
dition
e
1
e
n
< 0 (19)
We can see that there is an alternative sucient con-
dition for the existence of a negative real root. When
the polynomial f (
d
) is odd-ordered, there is at least
one negative real root of the equation if there is a nega-
tive critical point
d
of f (
d
), and the sign of the poly-
nomial at the critical point is the same as that of the
coecient of the highest-order termof f (
d
). When the
polynomial in equation (17) is even-ordered, there is a
negative real root if there exists a negative critical point
of the polynomial, and the sign of the polynomial at
d
is dierent from that of the coecient of the highest-
order termof f (
d
), i.e.
9
d
< 0 such that f
0
(
d
)
=
0 and (1)
n
e
1
f (
d
) > 0
(20)
where the prime denotes the partial derivative with
respect to
d
.
For the third-order system the sliding surface
becomes
e
1

2
d
2e
2

d
+ e
3 =
0 (21)
From(19), we obtain
e
1
e
3
< 0 (22)
The critical point
d
is e
2
/ e
1
, so the condition (20) yields
(i) e
2
2
e
1
e
3
0
(ii) e
1
e
2
< 0 or e
1
e
3
< 0
(23)
Here the rst condition in (23) must be satised for the
existence of a negative critical point, and the second one
can be derived by substituting the critical point
d
into
the last part of the condition (20).
The sliding surface for the fourth-order system is
given by
e
1

3
d
3e
2

2
d
+ 3e
3

d
e
4 =
0 (24)
Similarly to the case of the third-order system, from
equation (19) we get
e
1
e
4
< 0 (25)
From the condition (20), the alternative condition for
the existence of a negative real root of (24) is obtained as
follows
(i) e
2
2
e
1
e
3
0
(ii) e
1
e
2
< 0 or e
1
e
3
< 0
(iii)
if e
1
> 0 : 2e
3
2
+ 3e
1
e
2
e
3
+ 2(e
2
2
e
1
e
3)
3/ 2
e
2
1
e
4
> 0
if e
1
< 0 : 2e
3
2
+ 3e
1
e
2
e
3
2(e
2
2
e
1
e
3)
3/ 2
e
2
1
e
4
< 0
(26)
Therefore, we rotate the sliding surface to the predeter-
mined sliding surface in the fourth-order case if one of
the conditions (25) or (26) is satised, otherwise shift the
sliding surface.
3.2. Formulation of fuzzy moving algorithm
To keep the RP within a certain distance from the
MSS, the following linguistic rule is used
The smaller js
m
j and the larger the discontinuity gain,
the larger j s
m
j
(27)
Here, j s
m
j represents the absolute value of the moving
sliding surface function s
m
(
e, t), and j s
m
j denotes the
absolute value of the required change in js
m
j . Figure 2
represents the concept of the linguistic rule (27) in the
case of the rotating sliding surface for the second-order
system. Fromthe gure, we cansee that large rotation is
necessary when the RPis near the sliding surface, while
only small rotation is to be undertaken when the RPis
far fromthe surface.
For the realization of the linguistic rule (27), js
m
j
and the total discontinuity gain g(
x, t) are chosen as
the fuzzy input variables. The fuzzy output variable is
chosen as j s
m
j. The total discontinuity gain g(
x, t) is
dened according to the controller (9) as follows
g(
x, t)
=
k +
q
i
=
1
j
~
g
i
(
x, t)
j
(28)
964 D.-W. Park and S.-B. Choi
RP
RP
RP
RP
RP
s
s
s
s
s
0
1
2
3
4
m
m
m
m
m
( t )
( t )
( t )
( t )
( t )
0
1
2
3
4
e
1
e
2
Figure 2. Illustration of the linguistic rule.
}
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Now, the linguistic input variables are dened to
describe js
m
j and g(
x, t) as follows
~
s
=
fVS, SM, ME, LA, VLg
~
g
=
fVS, SM, ME, LA, VLg
(29)
where VS
=
very small, SM
=
small, ME
=
medium,
LA
=
large and VL
=
very large, respectively. The lin-
guistic output variable is also dened to describe the
amount of rotating or shifting as follows
~
s
=
fVS, SM, ME, LA, VLg (30)
All of the input andoutput fuzzy variables are chosen to
be positive. This is possible because we can know the
sign of the fuzzy variables fromthe direction of rotating
or shifting and it is useful to reduce the calculation time
andrequiredmemory. Anexample of the fuzzy variables
is illustrated in gure 3, which will be used in the appli-
cation of the electrohydraulic servomechanism. The
inputoutput relation of the fuzzy algorithm with
fuzzy variables (29) and (30) is given by
~
s,
~
g
!
~
s (31)
Table 1 presents an example of formulated fuzzy control
rules R
11
, R
12
, . . . , R
55
, i.e.
R
11
: IF
~
sis VSand
~
gis VS, THEN
~
sis VS
R
12
: IF
~
sis VSand
~
gisSM, THEN
~
sisSM
.
.
.
R
55
: IF
~
sis VL and
~
gis VL, THEN
~
sis VS
(32)
This fuzzy algorithmcan be inferred fromthe centre-of-
gravity method (Jamshidi et al. 1993).
Because we dened the MSSas (13), j s
m
j shouldbe
translatedto afor the shifting sliding surface and
d
for the rotating sliding surface. To obtain the relation-
ship between j s
m
j and a or
d
, we calculate the
partial derivatives of s
m
with respect to a and
d
as follows
s
m
a
=
1 (33)
s
m

d
=
s
0
m =

n1
i
=
1
(n 1)
!
(
d
(t)
j
ni1
(i 1)
!
(n i 1)
!
e
i
(34)
Fromthese equations, we can obtain the following rela-
tionships
a
=
w
s
s
m
(35)

d =
w
m
s
m
/ s
0
m
(36)
where w
s
andw
m
are scaling factors whichdependonthe
time-step and the characteristics of the system. When
s
0
m =
0,
d
can be obtained by multiplying a pre-
scribed large number. Figure 4 shows a ow chart of
the proposed control scheme characterizing the fuzzy
moving algorithm.
4. Application to the position control of an
electrohydraulic servomechanism
There are many distinct advantages of a hydraulic
control system, such as higher speed of response with
fast motions, speed reversals, higher torque stiness and
continuous operation (Merrit 1976). However, some dis-
Moving sliding surfaces 965
s m
VS SM ME LA VL
0.0
1.0
g
m
0.20
VS SM ME LA
VL
0.0
1.0
0.0
Dsm
m
( x)
3000 6000 9000 0.0
0.05 0.10 0.15
4.0
VS SM ME LA VL
0.0
1.0
0.0
m
2.0 3.0 1.0
0.25
Figure 3. Fuzzy variables for the electrohydraulic servo-
mechanism.
~
g
~
s VS SM ME L A VL
VS VS SM ME LA VL
SM VS VS SM ME LA
ME VS VS VS SM SM
LA VS VS VS VS VS
VL VS VS VS VS VS
Table 1. Fuzzy rule base of MSS for the electrohydraulic
servomechanism.
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advantages tend to limit its use; for example, the high
cost of hydraulic components for small allowable toler-
ance results, the upper temperature limit and non-linear
phenomena, the uid compressibility, and the deadband
due to internal leakage and hysteresis (Larry 1988).
These drawbacks make the control of a hydraulic con-
trol system dicult in the sense of implementation.
Furthermore, it has been shown by Petersen (1985)
that some uncertain dynamics cannot be quadratically
stabilized via a linear control but admit a non-linear
control such as sliding mode control.
Hwang and Lan (1994) studied the position control
of the electrohydraulic servomechanism via the sliding
mode controller. In that paper they used a large dis-
continuity gain to obtain fast control responses. As
mentioned in 1 of this paper, the increment of the
discontinuity gain may cause extreme sensitivity to
unmodelled dynamics, undesirable higher chattering
and large error bound in the steady state. In this
study, we obtain fast response by employing the pro-
posed MSS with relatively small discontinuity gain.
4.1. Problem formulation
The position control block-diagramof the electrohy-
draulic servomechanism is shown in gure 5 (Hwang
and Lan 1994). The relationship between the valve dis-
placement X
v
(in) and the load ow Q
l
(in
3
s
1
) is
described in the following servovalve ow equation
Q
l =
K
q
X
v
K
c
P
l
(37)
where K
c
is the valve ow-pressure coecient
(in
3
s
1
psi
1
), P
l
is the load pressure dierence (psi)
and K
q
is called the valve ow gain, given by
K
q =
C
d
W [P
s
sgn(X
v
)P
l
]/ q (38)
Here C
d
is the discharge coecient (dimensionless), W is
the area gradient (in), q is the uid mass density
(lbs
2
in
4
) and P
s
is the supply pressure (psi).
966 D.-W. Park and S.-B. Choi
Initial Hyperplane
Determination of Moving Manner
Initialization of Surface Gradient
Calculation of g ( x, t)
Current Moving Manner
Fuzzy Rule (Calculate Dld)
Update
ld (
ld +=
Dld)

e t e t
n 1
0 ( ) ( ) <
Fuzzy Rule (Calculate
Da
)
Update a (a += Da)

a = 0
Moving Manner = Rotating
Initialization of Surf ace Gradient

Shifting
Rotating
N

$l =
d d
s t f
* *
. . ( ) l 0

& ( ) ( )
*
- > 1 0
1
n
d
e f l
N
Y

e t e t
n 1
0 ( ) ( ) <
Y
N
Y
N
l l
d p
>
Predetermined Hyperplane
Figure 4. Flowchart of the control scheme with fuzzy algorithm.
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The continuity equation to the motor chamber is
given by
Q
l =
D
m

m
+ C
tm
P
l
+ ( V
t
/ 4b
e
)

P
l
(39)
where D
m
is the volumetric displacement of the motor
(in
3
rad
1
),
m
is the angular position of the motor shaft
(rad), C
tm
is the total load leakage coecient of the
motor (in
3
s
1
psi
1
), V
t
is the total compressed volume
(in
3
) and b
e
is the eective bulk modulus of the system
(psi).
The torque balance equation for the motor is given
by
P
l
D
m =
J
t

m
+ B
m

m
+ G
m
+ T
l
(40)
where J
t
is the total inertia of motor and load (inlbs
2
),
B
m
is the viscous damping coecient of the load(inlbs),
G is the torsional spring gradient of the load
(inlbrad
1
) and T
l
is the arbitrary load torque on the
motor (inlb).
Substituting (37) into (39) gives
K
q
X
v =
D
m

m
+ (K
c
+ C
tm
)P
l
+ ( V
t
/ 4b
e
)

P
l
(41)
By combining (37)(41), a set of state equations of the
electrohydraulic servomechanismmodel can be achieved
as follows

x
1 =
x
2
(t)

x
2 =
x
3
(t)

x
3 =

3
i
=
1
a
i
(t)x
i
(t)
3
i
=
1
da
i
(t)x
i
(t) + b(x)u(t) d(t)
(42)
where
x(t)
=
[x
1
(t) x
2
(t) x
3
(t)]
T
=
[
m
(t)

m
(t)

m
(t)]
T
a
1(t)
=
4b
e
V
t
K
ce
J
t
G
a
2
(t)
=
G
J
t
+
4b
e
V
t
D
2
m
J
t
+
4b
e
V
t
K
ce
J
t
B
m
a
3
(t)
=
B
m
J
t
+
4b
e
V
t
K
ce
b(x)
=
4b
e
V
t
D
m
J
t
K
q
K
v
d(t)
=
4b
e
V
t
K
ce
J
t
T
l
+
1
J
t

T
l
da
i
(t)
: the parameter uncertainty
K
ce =
K
c
+ K
tm
: the total flow-pressure coecient
(in
3
s
1
psi
1
),
K
v
: the servovalve gain
T
l =
f (
m
)
(43)
From(42) and (43), it can be seen that the dynamics of
the electrohydraulic servomechanism is highly non-lin-
ear (see b(x)), time variant (see a
i
(t)
=
1, 2, 3) and sub-
jected to external load disturbances.
4.2. VSCS design
First, let us dene the error state vector e as follows
e
=
[e
1
e
2
e
3
]
T
=
[x
1
x
d1
x
2
x
d2
x
3
x
d3
]
T
(44)
Then the conventional sliding surface is dened by the
following equation
s
=
c
1
e
1
+ c
2
e
2
+ e
3 =
0 (45)
where c
1
and c
2
are determined from(4) and (5).
Let the uncertainties of the systemda
i
(t), i
=
1, 2, 3,
and disturbance d(t) be assumed to satisfy the condition
(8); then sliding mode would occur if we use a controller
of the form(9), i.e.
u(t)
=
k +
3
i
=
1
j
~
g
i
(
x, t)
j sgn(s)
3
i
=
1
f
i
(
x, t)

3
i
=
1
g
i
(
x, t) c
1
e
2
c
2
e
3
+

x
d3
[b(
x, t)] (46)
where g
i
(
x, t) and
~
g
i
(
x, t) are dened in (10).
We dene the moving sliding surface for this system
in the formof (13) as
s
m =
c
1
(t)e
1
+ c
2
(t)e
2
+ e
3
a(t)
=
0 (47)
Moving sliding surfaces 967
VSC
q +
-
K K
u X
Q
1/D 1/s
K C
V s
4
J s + B
b
q q
T
G
P
+
+
+
e d v
l
v q m
m m
c tm
t
e
t m
1/Dm
l
l
+
-
+
-
+
+
Figure 5. Position control block diagramof the electrohy-
draulic servomechanism.
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Here the time-varying coecients c
1
(t) and c
2
(t) are
given in equation (14). The fuzzy variables are
illustrated in gure 3, and the linguistic fuzzy rule
base for the moving algorithm of the MSS is shown in
table 1.
4.3. Simulation results and discussion
For the computer simulations, the initial state is
taken as x
0 =
[0 0 2]
T
. The desired angular posi-
tion is selected as
d =
1rad. All of the desired eigen-
values of the xed (conventional) sliding surface and of
the predetermined sliding surface for the MSS are cho-
sen to be 25. The nominal values of the electrohydrau-
lic servomechanismparameters are listed in table 2. The
parameter uncertainties and external load disturbances
are conned as follows
~
a
i
(t)
=
0.3j a
i
(t)
j, i
=
1, 2
max(
jl
d
j , jh
d
j
)
=
1000
(48)
where a
1 =
0.04, a
2 =
12000, a
3 =
170. The electrohy-
draulic servomechanismis simulatedwitha time interval
of 0.001s using the RungeKutta method. The scaling
factors of the fuzzy algorithmw
s
and w
m
are selected as
1.0 and 3.2, respectively.
Figure 6 illustrates the angular position trajectories
and surface histories of the electrohydraulic control
968 D.-W. Park and S.-B. Choi
Parameter Value Unit
P
s
2000 psi
K
q
0.01 P
s
sgn(X
v)P
l
in
2
s
1
b
e
50000 psi
V
t
10 in
3
K
ce
0.001 in
3
spsi
D
m
0.5 in
3
rad
1
J
t
0.5 in
2
lbs
2
B
m
75 in
2
lbs
K
v
20 in
2
V
1
G 0.01 in
2
lbrad
1
Table 2. Nominal values of the electrohydraulic servo-
mechanism.
0 1 2 3 4 5
-9
-6
-3
0
3
: MSS with fuzzy algorithm (k=1200)
Time ( sec)
s
(
t
)
-800
-600
-400
-200
0
200
s
(
t
)
: fixed sliding surface (k=1200)
s
(
t
)
0 1 2 3 4 5
-0.2
0.0
0.2
0.4
0.6
0.8
1.0
1.2
(
t
)
q
: fixed sliding surface (k=1200)
: fixed sliding surface (k=2400)
: MSS with fuzzy algorithm (k=1200)
A
n
g
u
l
a
r

p
o
s
i
t
i
o
n

Time ( sec)
-800
-600
-400
-200
0
200
: fixed slidi ng surface (k=2400)
Figure 6. Control responses of the electrohydraulic system.
0 1 2 3 4 5
-0.2
0.0
0.2
0.4
0.6
: MSS with fuzzy algorithm (k=1200)
Time ( sec)
u
(
t
)
-0.2
0.0
0.2
0.4
0.6
u
(
t
)
: fixed sliding surface (k=1200)
u
(
t
)
0 1 2 3 4 5
0
3000
6000
9000
12000
Time ( sec)
: MSS with fuzzy algorithm (k=1200)
0
3000
6000
9000
12000
(
x
)
g
(
x
)
g
(
x
)
g
: fixed slidi ng surface (k=1200)
0
3000
6000
9000
12000
: fixed slidi ng surface (k=2400)
-0.2
0.0
0.2
0.4
0.6
: fixed sliding surface (k=2400)
Figure 7. Control histories of the electrohydraulic system.
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system. In this gure, we can see that the control per-
formance is remarkably enhanced by employing the
MSS, and that the fuzzy moving algorithm is success-
fully executed. For example, the tracking time of the
system with the MSS (47) is 0.587s whereas that of
the system with the xed sliding surface (45) is 3.194s
(for k
=
1200) and 0.619s (for k
=
2400).
Figure 7 shows the control histories and the vari-
ations of the discontinuity gain. Clearly, in the steady
state the discontinuity gain of the VSCS using the MSS
is the same as that of the VSCS employing the xed
sliding surface with k
=
1200. Thus, the control
response is improved by using the MSS without entail-
ing a larger limit cycle or steady-state error. If we
increase k to 2400 for the xed sliding surface, both
the discontinuity gain and the chattering magnitude
are twice as large as those of the VSCS with k
=
1200,
in the steady state. Furthermore, we can see that the
control responses of the VSCS with the xed sliding
surface depends heavily on the discontinuity gain.
The control results presented in this study are quite
self-explanatory in that the proposed MSS for the high-
order VSCS is very eective for achieving fast and
robust responses. Figure 8 presents the trajectories of
the desired eigenvalues and the coecients of the sliding
surfaces. Hence, c
1
(t) and c
2
(t) are dened as 2
d
(t)
and
2
d
(t), respectively. Figure 9 shows some sampled
sliding hyperplanes to illustrate the rotating procedure
in the electrohydraulic servomechanism. The sliding
hyperplane 1 is the initial sliding hyperplane, 2 is
Moving sliding surfaces 969
0 1 2 3 4 5
0
20
40
60
Time ( sec)
c
2
(
t
)
0
200
400
600
800
c
1
(
t
)
0 1 2 3 4 5
-30
-25
-20
-15
-10
-5
0
: fixed sliding surface
: MSS with fuzzy algorithm
: fixed sliding surface
: MSS with fuzzy algorithm
(
t
)
l
: fixed sliding surface
: MSS with fuzzy algorithm
Time ( sec)
Figure 8. Histories of the desired eigenvalues andcoecients
of the sliding surfaces.
Figure 9. Rotation of the sliding hyperplane of the electrohydraulic servomechanism.
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the hyperplane at 0.002s, 3is the one at 0.037s, andthe
others were sampled at intervals of 0.05s.
It is nally remarked that the computer program to
simulate this control systemis written in C
++
, and exe-
cutedby Intel 80486 DX2
TM
66MHz CPUwithBorland
C
++
3.1
TM
compiler. The times required to compute the
control input and the sliding hyperplane movement are
0.17ms and 0.1ms, respectively. This indicates that the
proposed control scheme can be employed in realistic
systems.
5. Conclusions
A newmoving algorithmfor the moving sliding sur-
face (MSS) has been proposed on the basis of fuzzy
theory for application to high-order variable structure
systems. The values of the surface function and discon-
tinuity gain are used as input variables, and the vari-
ation of the surface function as output variable. The
conditions for rotating or shifting the surface were
investigated. As a result, the specic conditions for
third- and fourth-order systems were derived. In addi-
tion, the position control problem of the electro-
hydraulic servomechanism was adopted in order to
demonstrate the eciency and feasibility of the pro-
posed MSS. The control performance of the system
was enhanced remarkably by employing the MSS with-
out entailing an increment of the discontinuity gain in
the steady state. It has also been demonstrated that the
MSS is successfully implemented in the high-order
VSCS with the fuzzy moving algorithm and the con-
ditions for rotating or shifting.
A study on an adaptive fuzzy or neuro-fuzzy algor-
ithm to avoid the trial and error procedure in deciding
the fuzzy variables and fuzzy rule base for the MSS is
being undertaken.
References
Apostol, T. M., 1974, Mathematical Analysis (New York:
Addison-Wesley).
Ackermann, J, and Utkin, V. I., 1994, Sliding mode
control based on Ackermanns formula. Proceedings of the
33rd IEEEConference onDecision and Control, vol. 4, Kobe,
Japan, pp. 36223627.
Ashchepkov, L. T., 1983, Optimization of sliding motions in
a discontinuous systems. Automation and Remote Control,
44, 14081415.
Chang, T. H., and Hurmuzlu, Y., 1992, Trajectory tracking
inrobotic systems using variable structure control without a
reaching phase. Proceedings of the 1992 American Control
Conference, Vol. 2, Chicago, Illinois, pp. 15051509.
Chern,T.L., andWu,Y.C.,1991, Designof integral variable
structure controller and application to electrohydraulic vel-
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