방법 비교

	슬라이딩 모드 제어	H-infinity 제어
분야	제어이론	제어이론
계열	Machine learning	Machine learning
기원 연도	1977	1981
창시자	Vadim Utkin	George Zames
유형	algorithm	algorithm
원전	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.
별칭	SMC, Variable Structure Control, Robust Control with Discontinuities	H∞ Control, Robust Control, Minimax Control
관련	4	4
요약	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.