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Changelog

All notable changes to the OpenSMC project will be documented here.

[2.0.0] - 2026-03-16

Added

  • Reinforcement Learning: Full integration with Gymnasium for RL-SMC surface discovery and parameter optimization.
  • Gymnasium Envs: 5 pre-built control environments for RL training.
  • New Controllers: Added FixedTimeSMC, NFTSMC, and IncrementalHSMC.
  • Estimators: Added Levant's differentiator and RBF-ELM observers.
  • MkDocs Site: A comprehensive documentation site with auto-generated API reference.

Improved

  • MATLAB Parity: Synchronized all Python classes with the corresponding MATLAB + package.
  • Performance: Optimized the simulation core (RK4) for faster execution.
  • Examples: Expanded the notebooks gallery with real-world trajectory tracking cases.

[1.0.0] - 2024-05-15

Added

  • Core Framework: Base classes for SlidingSurface, ReachingLaw, Plant, and Controller.
  • Standard Surfaces: Linear, Terminal, and Integral sliding surfaces.
  • Standard Reaching Laws: Constant, Exponential, and Power-rate.
  • Plant Models: Double Integrator, Inverted Pendulum, and Crane models.
  • Metrics: Initial suite of performance metrics (ISE, IAE, ITAE).
  • Dual Support: Initial support for both Python and MATLAB.

Initial Release

  • The first open-source release of OpenSMC for community use.