Contents.m

% OpenSMC - Modular Sliding Mode Control Toolbox
% Version 2.0.0 (2026-03-17)
%
% A modular, open-source MATLAB toolbox for sliding mode control (SMC)
% design, simulation, and benchmarking. Provides 56 interchangeable
% components across 9 packages, enabling fair comparison of SMC variants
% on standardized plant models.
%
% Core Interfaces (abstract base classes)
%   core.SlidingSurface       - Abstract base class for sliding surface designs
%   core.ReachingLaw          - Abstract base class for reaching law designs
%   core.Plant                - Abstract base class for dynamical system models
%   core.Controller           - Abstract base class for SMC controllers
%   core.Estimator            - Abstract base class for disturbance/uncertainty estimators
%   core.Architecture         - Abstract base class for control architectures
%
% Sliding Surfaces
%   surfaces.LinearSurface              - Linear surface s = edot + c*e (asymptotic convergence)
%   surfaces.TerminalSurface            - Terminal surface s = edot + beta*|e|^(p/q)*sign(e) (finite-time, singular)
%   surfaces.NonsingularTerminalSurface - Nonsingular terminal surface s = e + (1/beta)*|edot|^(q/p)*sign(edot)
%   surfaces.FastTerminalSurface        - Fast terminal surface s = edot + alpha*e + beta*|e|^(q/p)*sign(e) (global finite-time)
%   surfaces.IntegralSlidingSurface     - Integral sliding surface s = C*(e - E), eliminates reaching phase
%   surfaces.HierarchicalSurface        - Hierarchical surface S = s1 + lambda*s2 for underactuated systems
%   surfaces.PIDSurface                 - PID-type surface s = alpha*edot + beta*e + gamma*integral(e)
%   surfaces.PredefinedTimeSurface      - Time-varying surface with guaranteed convergence before user-specified Tc
%   surfaces.NonlinearDampingSurface    - Variable-damping surface s = edot + (c + Psi(y))*e (Bandyopadhyay)
%   surfaces.GlobalSurface              - Global surface s(0) = 0 via exponential decay of initial offset
%   surfaces.IntegralTerminalSurface    - Integral terminal surface s = edot + c1*e + c2*integral(|e|^(p/q)*sign(e))
%
% Reaching Laws
%   reaching.ConstantRate    - Classic sign-based reaching law u_r = -k*sign(s)
%   reaching.ExponentialRate - Exponential reaching law u_r = -k*sign(s) - q*s (Gao & Hung 1993)
%   reaching.PowerRate       - Power-rate reaching law u_r = -k*|s|^alpha*sign(s)
%   reaching.SuperTwisting   - Super-twisting algorithm, continuous chattering-free 2nd-order SMC (Levant 1993)
%   reaching.Saturation      - Boundary layer reaching law u_r = -k*sat(s/phi)
%
% Controllers
%   controllers.ClassicalSMC    - Standard SMC: u = u_eq + u_reaching (any surface + reaching law)
%   controllers.AdaptiveSMC     - Adaptive SMC with Lyapunov-based online gain tuning
%   controllers.DynamicSMC      - Dynamic SMC: discontinuity on u_dot for continuous control output
%   controllers.AggregatedHSMC  - Aggregated hierarchical SMC for underactuated cranes (Qian & Yi)
%   controllers.IncrementalHSMC - Incremental three-layer hierarchical SMC with sign-switching (Qian & Yi)
%   controllers.CombiningHSMC   - Combining hierarchical SMC with intermediate variable z = e1 + c*e3
%   controllers.ITSMC           - Integral terminal SMC with RBF-ELM disturbance compensation
%   controllers.NFTSMC          - Nonsingular fast terminal SMC with combined linear+terminal reaching
%   controllers.FuzzySMC        - Fuzzy SMC: Mamdani inference replaces sign(s) for chattering elimination
%   controllers.DiscreteSMC     - Discrete-time SMC with Gao's discrete reaching law (sampled-data)
%   controllers.FixedTimeSMC    - Fixed-time SMC with bi-power reaching law (Polyakov 2012)
%
% Plant Models
%   plants.DoubleIntegrator        - Double integrator x_ddot = u + d (canonical SMC benchmark)
%   plants.InvertedPendulum        - Cart-pole system, 4 states, underactuated (1 input, 2 DOF)
%   plants.SinglePendulumCrane     - Single-pendulum overhead crane, trolley + payload swing
%   plants.DoublePendulumCrane     - Double-pendulum overhead crane, trolley + hook + payload
%   plants.Quadrotor6DOF           - 6-DOF quadrotor, 12 states, Newton-Euler formulation
%   plants.DualStageNanopositioner - Piezoelectric two-mode nanopositioner for precision positioning
%   plants.TwoLinkArm              - 2-DOF planar robot arm, Euler-Lagrange formulation, fully actuated
%   plants.PMSM                    - Permanent magnet synchronous motor in dq-frame, 4 states
%   plants.SurfaceVessel           - 3-DOF marine surface vessel (surge, sway, yaw), Fossen model
%
% Disturbance/Uncertainty Estimators
%   estimators.NoEstimator                - Dummy estimator returning zero (pure SMC, no compensation)
%   estimators.DisturbanceObserver        - Slow time-varying disturbance observer for 2nd-order systems
%   estimators.ExtendedStateObserver      - Third-order ESO for lumped uncertainty estimation (ADRC)
%   estimators.HighGainObserver           - Second-order high-gain observer for unmeasured state estimation
%   estimators.IntegralChainDifferentiator - High-order integral-chain differentiator for state and uncertainty
%   estimators.RBF_ELM                    - RBF-ELM neural network with online OS-ELM weight adaptation
%   estimators.LevantDifferentiator       - Arbitrary-order robust exact differentiator via HOSM (Levant 2003)
%
% Control Architectures
%   architectures.DirectSMC   - Single-loop architecture for fully actuated systems
%   architectures.CascadedSMC - Two-loop cascade: outer position SMC + inner attitude PD (quadrotors)
%
% Benchmark and Simulation
%   benchmark.Simulator      - Unified RK4/Euler simulation engine for closed-loop SMC experiments
%   benchmark.BenchmarkRunner - Combinatorial runner for all architecture x plant configurations
%   benchmark.Metrics        - Standardized performance metrics (RMSE, ISE, settling time, chattering)
%
% Utility Functions
%   utils.references   - Standard reference trajectory generators (step, ramp, sinusoidal, waypoint)
%   utils.disturbances - Standard disturbance profiles for benchmarking (step, sinusoidal, composite)
%
% Getting Started
%   Run 'examples/example_01_classical_smc.m' for a minimal working example.
%   See README.md for full documentation and tutorials.
%
% References
%   Liu, J. & Wang, X. (2012). Advanced Sliding Mode Control. Springer.
%   Qian, D. & Yi, J. (2015). Hierarchical Sliding Mode Control. Springer.
%   Bandyopadhyay, B. et al. (2009). Sliding Mode Control Using Novel
%       Sliding Surfaces. Springer LNCIS 392.
%   Levant, A. (1993). Sliding order and sliding accuracy. IJOC.
%   Polyakov, A. (2012). Fixed-time stabilization. IEEE TAC.
%   Gao, W. & Hung, J.C. (1993). Variable structure control. IEEE TIE.
%
% Authors
%   Ali Al Ghanimi, University of Kufa
%
% License
%   MIT License. See LICENSE file for details.