ADAPTATION ALGORITHM OF FOURTH-ORDER SLIDING MODE CONTROL SYSTEM, SYNTHESIZED WITH N-i SWITCHING METHOD, TO TRANSIENT TRAJECTORY FORM VARIATION

The article presents an algorithm of sliding mode submissive control system settings adaptation to various trajectory forms of transient with condition of intermediate coordinates limitation. Adaptation carries out according to master control magnitude by discerning of current mode with calculation of suitable magnitudes for canonic coordinates and further calculation of feedback gains. Extremely small capacity of calculations, realizing with N-i switches method, provides high processing speed for control system synthesis procedure.