In this article, Smooth Super-twisting Sliding Mode Control (SSTWSMC) is
investigated for the class of underactuated system. In underactuated systems, the
control design is not directly applicable as for other systems (known as fully
actuated systems). Therefore, at initial step, a nonlinear uncertain model of
systems is transformed into the controllable canonical form, and then Smooth
Super Twisting (SSTW) based Sliding Mode Control (SMC) is devised for the control
design purpose for the considered class. In addition, closed loop stability of the
proposed technique is presented in a fascinating way. The effectiveness and
supremacy of the proposed control technique is proven by extensive analysis
between conventional Sliding Mode Control (SMC), Super twisting (STW) sliding
mode control and Smooth Super-twisting Sliding Mode Control (SSTWSMC). The
comprehensive analysis evaluates the attributes like robustness enhancement,
settling time, control effort, chattering reduction, overshoot, sliding mode
convergence, etc. and is supported by simulations as well as practical
implementation on ball and beam balancer (which is considered as application
example).

제 1편 : SIMULINK 기본편
1.1 SIMULINK의 시작 1
블록의 연결 5
블록 파라미터의 설정 7
시뮬레이션 파라미터 (Configuration Parameters)의 설정 8
시뮬레이션의 수행 9
블록 파라미터의 표시 9
복수 데이터의 표시 11
2.2 동적 시뮬레이션 13
이차 미분방정식 17
선형 상태변수 모델 23
DC 모터의 시뮬레이션 24
함수 블록의 사용 29
차분방정식(difference equation)의 모델링 34
Subsystem(부시스템)의 구성 37
제 2편 : 연구논문
Smooth super-twisting sliding mode control for the class of
underactuated systems
1. Problem formulation 43
2. Control law design 44
3. Smooth super-twisting sliding mode control (SSTWSMC) 44
4. Illustrative example 46
5. Control design 48
6. Simulation results 49
7. Experimental results 51
8. Conclusions 55
9. References 60