手法を比較

	スライディングモード制御	H-infinity制御 (H∞制御)
分野	制御理論	制御理論
系統	Machine learning	Machine learning
提唱年	1977	1981
提唱者	Vadim Utkin	George Zames
種類	algorithm	algorithm
原典	Utkin, V. I. (1977). Variable structure systems with sliding modes. IEEE Transactions on Automatic Control, 22(2), 212-222.	Zames, G. (1981). Feedback and optimal sensitivity: Model reference transformations, multiplicative seminorms, and approximate inverses. IEEE Transactions on Automatic Control, 26(2), 301-320.
別名	SMC, Variable Structure Control, Robust Control with Discontinuities	H∞ Control, Robust Control, Minimax Control
関連	4	4
概要	Sliding Mode Control (SMC) is a robust nonlinear control technique that forces a system to follow a predetermined surface (the sliding surface) in state space by using discontinuous (bang-bang or high-frequency switching) control inputs. Developed by Utkin and further advanced by Slotine, SMC is remarkably insensitive to parameter variations and disturbances—once the system reaches the sliding surface, its behavior is determined solely by the surface geometry, not by uncertainty. This makes SMC powerful for nonlinear systems, manipulators, and uncertain systems where robustness is paramount.	H-infinity (H∞) control is a robust control method that minimizes the worst-case gain from disturbances to controlled outputs, formulated as a minimax optimization problem. Pioneered by Zames in the early 1980s, H∞ control provides a principled way to design feedback controllers that tolerate model uncertainty, unmodeled dynamics, and disturbances while maintaining stability and performance, making it essential for applications requiring guaranteed robustness.