• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.11
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• pp.1612-1619
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• 2017

In this note, a complete proof of Utkin's theorem is presented for SI(single input) uncertain nonlinear systems. The invariance theorem with respect to the two nonlinear transformation methods so called the two diagonalization methods is proved clearly, comparatively, and completely for SI uncertain nonlinear systems. With respect to the sliding surface and control input transformations, the equation of the sliding mode i.e., the sliding surface is invariant, which is proved completely. Through an illustrative example and simulation study, the usefulness of the main results is verified. By means of the two nonlinear transformation methods, the same results can be obtained.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.9
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• pp.1680-1685
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• 2010

In this note, a proof of Utkin's theorem is presented for a MI(Multi Input) uncertain linear case. The invariance theorem with respect to the two transformation methods so called the two diagonalization methods are proved clearly and comparatively for MI uncertain linear systems. With respect to the sliding surface transformation and the control input transformation, the equation of the sliding mode i.e., the sliding surface is invariant. Both control inputs have the same gains. By means of the two transformation methods the same results can be obtained. Through an illustrative example and simulation study, the usefulness of the main results is verified.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.4
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• pp.843-847
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• 2011

In this note, a proof of Utkin's theorem is presented for the SI(Single Input) uncertain integral linear case. The invariance theorem with respect to the two transformation methods so called the two diagonalization methods are proved clearly and comparatively for SI uncertain integral linear systems. With respect to the sliding surface transformation, the equation of the sliding mode, the sliding surface is invariant. Both the applied control inputs have the same gains. By means of the two transformation methods the same results can be obtained. Through an illustrative example and simulation study, the usefulness of the main results is verified.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.8-14
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• 2011

In this note, a proof of Utkin's theorem is presented for SI(Single input) uncertain linear systems. The invariance theorem with respect to the two transformation methods so called the two diagonalization methods is proved clearly and comparatively for SI uncertain linear systems. With respect to the sliding surface transformation, the equation of the sliding mode i.e., the sliding surface is invariant. The control inputs by the two transformation methods both have the same gains. By means of the two transformation methods, the same results can be obtained. Through an illustrative example and simulation study, the usefulness of the main results is verified.