Modern Sliding Mode Control Theory New Perspectives and Applications
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Giorgio Bartolini, Leonid Fridman, Alessandro Pisano, Elio Usai (Eds.)
Modern Sliding Mode Control Theory New Perspectives and Applications
ABC
Series Advisory Board F. Allgöwer, P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis
Editors Giorgio Bartolini
Alessandro Pisano
Department of Electrical and Electronic Engineering (DIEE), University of Cagliari, Piazza d’Armi, 09123, Cagliari (Italy) E-Mail: [email protected]
Department of Electrical and Electronic Engineering (DIEE), University of Cagliari, Piazza dŠArmi, 09123, Cagliari (Italy) E-Mail: [email protected]
Leonid Fridman
Elio Usai
Department of Control, Engineering Faculty, National Autonomous University of Mexico (UNAM), 04510, Mexico, D.F., Mexico E-Mail: [email protected]
Department of Electrical and Electronic Engineering (DIEE), University of Cagliari, Piazza d’Armi, 09123, Cagliari (Italy) E-Mail: [email protected]
ISBN 978-3-540-79015-0
e-ISBN 978-3-540-79016-7
DOI 10.1007/978-3-540-79016-7 Lecture Notes in Control and Information Sciences
ISSN 0170-8643
Library of Congress Control Number: 2008923754 c 2008
Springer-Verlag Berlin Heidelberg
This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typeset & Cover Design: Scientific Publishing Services Pvt. Ltd., Chennai, India. Printed in acid-free paper 543210 springer.com
To my wife Irene, to my mother Lucia, and to the memory of my father Giovanni. A.P.
Preface
This book is a collection of invited chapters covering several areas of modern sliding mode control theory. Preparing this book we tried to identify key contributions defining the theoretical and applicative state of the art of the sliding mode control theory and the most promising trends of the ongoing research activities. The contributions is divided in four main parts: Part Part Part Part
I: Basic Theory. II: Design Methods III: Observers and Fault Detection IV: Applications
The first part of the book (Part I: Basic Theory) is devoted to a collection of six mostly theoretical chapters addressing basic theoretical issues of sliding-mode based control systems. The first Chapter, by Giorgio Bartolini, Elisabetta Punta, and Tullio Zolezzi, presents new definitions of approximability
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