Original Russian language edition, entitled: B. III. YTKMH "CKOJ1b3S1~Me pe>KMMbl M MX npMMeHeHMe B 3a,qayax onTMMM3a4MM M ynpaBJ1eHMSI» HAYKA, MocKBa, 1981 r. All rights reserved.

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The paper deals with the basic concepts, mathematics, and design aspects of variable structure systems as well as sliding modes as a principle operation mode. The main arguments in favor of sliding mode control are order reduction, decoupling design procedure, disturbance rejection, insensitivity to parameter variations, and simple implementation by means of power converters. The control algorithms and data processing used in variable structure systems are analyzed. The potential of sliding mode control methodology is demonstrated for versatility of electric drives and functional goals of control.

Abstract-This paper presents a guide to sliding mode control for practicing control engineers. It offers an accurate assessment of the so-called chattering phenomenon, catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding mode control research.Index Terms-Discrete-time systems, multivariable systems, nonlinear systems, robustness, sampled data systems, singularly perturbed systems, uncertain systems, variable structure systems.