Design of equal excursion sliding regime

In a practical variable structure system (VSS), owing to the time delay of the switching device, the sliding motion of the system can no longer be ideal. This affects the insensitivity property of the VSS. We propose a method called the equal excursion sliding regime (EESR) to overcome this problem. Using EESR we may obtain an almost ideal sliding regime. Examples are presented to illustrate the advantages of the proposed method.