Performance Comparison of Sliding Control Law for Dynamical Systems
In this paper, a sliding mode control approach with PID sliding surface and first-order filter are implemented for single-input-single-output (SISO) devices. The proposed controller performs satisfactorily even for parameter variations in the system. In order to verify the applicability to the disturbances, an external load is applied and the performance of the controller is validated. The stability can be tested using the concept of Lyapunov stability theorem. In sliding mode approach, the effect of chattering phenomenon is significantly reduced by selecting appropriate switching (gain) of interest along with the known parameters of the system. In case of the proposed approach, it can verified that this approach has applications to the physical systems. The applicability and the performance of the proposed control structure are confirmed by a simulation example and the analysis of the proposed controller is carried out with the similar controllers available in the literature.
KeywordsSliding mode control Single variable Stability Robustness
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