Stateflow sliding mode controller (Advanced)

Controller has very fast response and short settling time. You may explore its behavior on diagrams. It draws output signal for any IC.

Description: This software was chosen as "File Exchange Pick of the Week" -- see: "https://blogs.mathworks.com/pick/2017/08/18/stateflow-sliding-mode-controller-demo/ ". It was prepared by dr Zbigniew Mrozek (Cracow University of Technology, Poland) in cooperation with Prof. Stanisław Tarasiewicz (Laval University, Canada). Comparing with older contribution "Stateflow sliding mode controller demo" user has much more control on setting initial conditions for unstable hyperbolic and unstable oscilator trajectories, as well as on slope of switching line and the final plots.
A conference paper "Attempting sliding mode controller to mobile robot arc welding process" by Z. Mrozek and S. Tarasiewicz, describing used alghoritms is enclosed in downloaded files.
The purpose of this software is demonstration of non-linear sliding mode controller designed to control movement of platform mobile carrying robot with welding equipment. The main feature of sliding mode controller is fast response and short settling time. The controller do not use the stable feedback but looks for fast unstable trajectories yielding near target point and switches between them as better one trajectory is found. The methodology is described in a book: Sliding Modes in Control and Optimization by Prof. Vadim I. Utkin, Springer Verlag 1992, ISBN: 978-3-642-84381-5 (Print) 978-3-642-84379-2 (Online), published in Communications and Control Engineering Series, 1992
This example is described in book "MATLAB i Simulink. Poradnik użytkownika. Wydanie IV, Helion 2017, Poland ISBN 978-83-246-5621-9, https://helion.pl/ksiazki/matsi4 or in English https://uk.mathworks.com/academia/books/matlab-i-simulink-mrozek.html?s_tid=srchtitle