===== SLIDE MODE CONTROL =====

This page present a full derivation for a Slide mode controller. [[lego_rip_modeling|Recall all the RIP dynamics derivation in the Modeling Page]] . 

**You can find the MATLAB script to calculate the auxiliary constants here **
{{::rip_smc_matlab.rar|}}

**Save this Simulink project inside your "RIP only Sensors building + simulink codes"   **
{{::riponlybalancesmc.rar|}}

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{{:smc1.jpg|}}
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{{:smc5.jpg|}}