Abstract-Generally, sliding-mode controllers have to be modified to achieve a constant switching frequency or at least to have an upper limit for it. A family of sliding-mode controllers easy to implement is proposed in this paper. If a controller has the form specified in this paper then it can be implemented using a pulse-width modulator assuring a constant switching frequency, without requiring the control to be modified. The control structure proposed is shown to be feasible by presenting a controller for…
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