The Bode Plots for Sliding-Mode Control Design

TL;DR

This paper introduces a frequency-domain analysis framework for sliding-mode control systems using describing function theory, enabling better understanding and tuning of controllers to balance robustness and chattering.

Contribution

It provides a unified approach to analyze both discontinuous and Lipschitz-continuous sliding-mode controllers using closed-form expressions and sensitivity analysis.

Findings

Accurately predicts chattering amplitude and frequency.

Validates theoretical models with simulations under various disturbances.

Offers practical guidelines for gain tuning to improve robustness and reduce chattering.

Abstract

This paper develops a unified frequency-domain framework for the analysis of sliding-mode control systems, encompassing both discontinuous and Lipschitz-continuous implementations. Using describing function (DF) theory, closed-form expressions are derived for the amplitude and frequency of chattering oscillations, as well as equivalent gain (EG) models that enable closed-loop sensitivity analysis. The proposed methodology captures the influence of actuator dynamics, control parameters, and disturbance profiles on steady-state performance. Theoretical predictions for bias and oscillatory components are validated through simulations under both constant and sinusoidal perturbations. In the low-frequency regime, the EG-based sensitivity functions accurately predict the amplitude and phase of the system response, with tracking errors remaining within a 15\% margin, provided that the DF assumptions hold. The framework also incorporates orbital stability considerations via Loebs criterion, ensuring that chattering remains bounded. Overall, the results offer practical insight into the robust design of sliding-mode controllers, enabling systematic gain tuning that balances disturbance rejection and chattering attenuation, while accounting for actuator and sensor constraints.