<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2007-0705</journal-id>
<journal-title><![CDATA[Nova scientia]]></journal-title>
<abbrev-journal-title><![CDATA[Nova scientia]]></abbrev-journal-title>
<issn>2007-0705</issn>
<publisher>
<publisher-name><![CDATA[Universidad de La Salle Bajío A. C., Coordinación de Investigación]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2007-07052019000200004</article-id>
<article-id pub-id-type="doi">10.21640/ns.v11i23.1972</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Robustness vs Chattering-effect study for the Sliding Mode Control]]></article-title>
<article-title xml:lang="es"><![CDATA[Estudio de Robustez vs Vibración en el Control por Modos Deslizantes]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Álvarez Rodríguez]]></surname>
<given-names><![CDATA[Sergio]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Instituto Tecnológico José Mario Molina Pasquel y Henríquez  ]]></institution>
<addr-line><![CDATA[ Jalisco]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>00</month>
<year>2019</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>00</month>
<year>2019</year>
</pub-date>
<volume>11</volume>
<numero>23</numero>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S2007-07052019000200004&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S2007-07052019000200004&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S2007-07052019000200004&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract In Sliding Modes control literature, a popular paradigm says that the so called &#8220;chattering-effect&#8221; (undesirable mechanical vibrations on the plant under control) can be reduced or even removed at all without affecting the control robustness. Nevertheless, results of practical implementations support that this is not necessarily true. In this work, the actual behaviour of a class of high order Sliding Modes used as the control law for a Multiple-Input Multiple-Output system is presented, where the real performance of system robustness is studied when the chattering-effect change in magnitude. In this study, to achieve the chattering reduction, the Super-Twisting algorithm is used, and the plant to control is a 3-DoF robot arm. The results of this work show that when techniques to reduce the chattering-effect are utilized, the corresponding reduction in system robustness should also be taken into account, and that achievements of theoretical concepts must be bounded when they are implemented in practical applications]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen En la literatura de control por Modos Deslizantes, un popular paradigma dice que el llamado &#8220;efecto de vibración&#8221; (vibraciones mecánicas indeseables en la planta a controlar) puede ser reducido o inclusive eliminado sin afectar la robustez del control. No obstante, los resultados de implementaciones prácticas, apoyan la idea de que esto no es necesariamente cierto. En este trabajo, se presenta un estudio del desempeño real de los Modos Deslizantes de alto orden usados como la ley de control para un sistema con múltiples entradas múltiples salidas, a partir del cual se ofrecen hallazgos interesantes del comportamiento real de la robustez del sistema de control cuando el efecto de vibración cambia en magnitud. En este estudio, para lograr la reducción de la cantidad de vibración, se utiliza el algoritmo de control llamado Super-Twisting, y la planta a controlar es un brazo manipulador de 3-GdL. Los resultados de este trabajo muestran que cuando se usan técnicas para reducir el efecto de vibración, se debe tomar en cuenta que la robustez del sistema de control también se verá afectada, y que los logros aclamados por la teoría, deben ser acotados cuando se realizan las correspondientes implementaciones prácticas.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Super-Twisting algorithm]]></kwd>
<kwd lng="en"><![CDATA[chattering-effect]]></kwd>
<kwd lng="en"><![CDATA[system robustness]]></kwd>
<kwd lng="en"><![CDATA[3-DoF robot arm]]></kwd>
<kwd lng="es"><![CDATA[algoritmo Super-Twisting]]></kwd>
<kwd lng="es"><![CDATA[efecto de vibración]]></kwd>
<kwd lng="es"><![CDATA[robustez del sistema]]></kwd>
<kwd lng="es"><![CDATA[robot manipulador de 3-GdL]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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