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Index A 1-form, 42, 45, 133 Amplitude-frequency tradeoff, 14 Bézier polynomial, 20 Bandwidth, 14 Binary valued input, 38 Boost converter, 21, 38, 41, 53 Boost-boost converter, 136 Brunovski s canonical form, 215 Buck-Boost converter, 57 Cascaded buck converters, 162 Chained mass-spring system, 244 Chua s circuit, 87 Co-vector, 42 Computed torque controller, 147 Control and drift field perturbations, 71 Control field perturbation, 70 Control vector field, 42 Cotangent vector, 42 DC motor, 69, 182 Delta modulator, 90 Delta Sigma modulation, 99 Differential, 42 Differential function of the state, 213 Differential independence, 213 Differential parametrization, 214 Differentially flat system, 213 Directional derivative, 42, 130 Double bridge buck converter, 112 Double buck-boost converter, 139 Drift field perturbation, 66 Drift vector field, 42 Equivalent control, 3, 44, 132 Exact linearization, 86 Feedback linearizable system, 215 Finite time reachability, 7 Flat output, 86 Fully actuated rigid body, 145 Generalized Proportional Integral control, 165 Global sliding motions, 29 GPI control, 166 GPI sliding mode control, 209 Higher order Delta modulation, 95 Ideal sliding dynamics, 44 Idealized Delta Modulation, 90 Induction motor, 207 Integral reconstructor, 166 Integral sliding mode, 122 Integral state reconstructors, 165 Internal Model principle, 12 Invariance conditions, 8, 44 Involutive distribution, 79 Lead compensator, 114 Lie bracket, 77 Linearizing output, 86 Springer International Publishing Switzerland 2015 H. Sira-Ramírez, Sliding Mode Control, Control Engineering, DOI 10.1007/978-3-319-17257-6 257
258 Index Local existence of sliding mode, 48 locally decoded signal, 90 Matched perturbation, 67 Matching condition, 135 Matching conditions, 3, 67 Minimum phase output, 26, 37, 82 Multilevel Delta-Sigma modulation, 109 Multivariable nonlinear systems, 128 Non-minimum phase, 84 Non-minimum phase output, 26, 37, 83 Nonholonomic restrictions, 216 Permanent magnet stepper motor, 202 Permanent magnet synchronous motor, 153 Planar rigid body, 223 Plant, 1 Projection operator, 37, 44, 132, 134 Reaching phase, 7 Relative degree, 74 remote decoder, 91 Satellite model, 85 second order Delta modulation, 92 Second order Delta-Sigma modulation, 118 Sensorless control of induction motor, 208 Single axis car, 220 Single link-dc motor system, 248 Sliding manifold, 2 Sliding regime, 8 Sliding surface, 41 Sliding surface coordinate function, 2, 42 Soft landing vehicle model, 84 Sustaining phase, 8 Switched gain, 40 Switched third order integrator, 50 The elements of SMC, 1 The rocket model, 226 The rolling penny, 216 Three tanks model, 236 Transversal condition, 43 Transverse condition, 42 Two degree of freedom robot, 239 Underactuated rigid body, 157 Variable structure system, 38 Vector field, 133 Vector relative degree, 131, 148 Water tank system, 15 Zero dynamics, 26, 37, 83