
Saunder January 22, 2014 10:43 K15053˙Book
Linear/Nonlinear Disturbance Observer-Based Sliding 147
(a)
0 1 2 3 4 5 6
−1
−0.5
0
0.5
Time, sec
State, x
1
DOB−SMC
I−SMC
SMC
(b)
0 1 2 3 4 5 6
−0.5
0
0.5
1
Time, sec
State, x
2
DOB−SMC
I−SMC
SMC
Figure 9.4 State variables in simulation scenario 2 (Chattering reduction).
0 1 2 3 4 5 6
−3
−2
−1
0
1
Time, sec
Control, u
DOB−SMC
I−SMC
SMC
Figure 9.5 Control input in simulation scenario 2 (Chattering reduction).