Conference article

Modeling and Simulation of Filippov System Models with Sliding Motions using Modelica

Mohammed Ahsan Adib Murad
School of Electrical Engineering, University College Dublin, Ireland

Luigi Vanfretti
ECSE, Rensselaer Polytechnic Institute, Troy, NY, USA

Federico Milano
School of Electrical Engineering, University College Dublin, Ireland

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Published in: Proceedings of the American Modelica Conference 2020, Boulder, Colorado, USA, March 23-25, 2020

Linköping Electronic Conference Proceedings 169:5, p. 46-53

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Published: 2020-11-03

ISBN: 978-91-7929-900-2

ISSN: 1650-3686 (print), 1650-3740 (online)


This paper presents a generalized modeling formulation for implementation of dynamical system models that exhibit sliding behavior. The proposed formulation is based on Filippov theory, and is implemented using Modelica. The main advantage of the developed framework is that it effectively removes numerical chattering and trajectory deadlock. The robustness of the formulation is assessed considering three example system models: a stick-slip system, a relay feedback system and an anti-windup Proportional Integral (PI) controller in a power system application, i.e. an automatic voltage controller.


Discontinuity, non-smooth, Filippov, hybrid dynamics, chattering.


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