Apparatus for controlling dynamic system in sliding mode and feedforward control

An apparatus for controlling a dynamic system under feedforward and sliding mode control comprising:

• a state determining circuit that determines an actual state of the controlled system;
• a target state determining circuit that determines a target state of the controlled system based on the actual state determined by said state determining circuit;
• a feedforward-controlled variable determining circuit that determines a variable controlled by the feedforward control based on the target state determined by said target state determining circuit;
• a sliding mode-controlled variable determining circuit that determines a variable controlled by the sliding mode control based on a state deviation between the actual state and the target state determined by said state determining circuit and the target state determining circuit;
• and
• a state controlling circuit that determines a manipulated variable based on the sum of said feedforward-controlled variable and said sliding mode-controlled variable to bring the actual state of the controlled system into agreement with the target state.