Switching and non-switching dead-beat sliding mode control with monotonic convergence.

Performance requirements necessitate control designs that assure not only transient response specifications but also steady-state accuracy. Monotonic convergence of the tracking error is crucial for an efficient control design to prevent the performance degradation caused by overshooting. This needs a balanced consideration of both reaching conditions and the monotonic convergence, in the context of sliding mode control. In this paper, the dynamic behaviour of the dead-beat sliding mode control is characterized and the signum function is replaced by employing a non-switching one, in order to reduce chattering. The paper conducts a thorough analysis of monotonic convergence of both the switching and the non-switching error dynamics. By deriving the conditions for monotonic convergence, the control parameters can be strategically chosen to ensure monotonic convergence of the tracking error. Numerical and experimental results are presented to validate effectiveness of the proposed control scheme, which evaluate the tracking performance achieved by both the switching and the non-switching control methods. • The DBSMC approach uses a dead-beat reaching law for the global sliding-mode. • Both the switching and non-switching attractive laws are proposed. • The monotonic convergence is characterized by the MD-region and the SS-band. • The calculation of convergence steps of the DBSMC schemes is provided. [ABSTRACT FROM AUTHOR]