Disturbance Rejection Improvement for the Sliding Mode Smith Predictor Based on Bio-inspired Tuning

  • Josenalde OliveiraEmail author
  • José Boaventura-Cunha
  • Paulo Moura Oliveira
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 402)


This paper addresses a strategy to improve disturbance rejection for the Sliding Mode Controller designed in a Smith Predictor scheme (SMC-SP), with its parameters tuned through the bio-inspired search algorithm—Particle Swarm Optimization (PSO). Conventional SMC-SP is commonly based on tuning equations derived from step response identification, when First Order Plus Dead Time models (FOPDT) are considered and therefore controller parameters are previously set. Online PSO tuning based on minimization of the Integral of Time Absolute Error (ITAE) can provide faster recovery from external disturbances without significant increase of energy consumption, and the Sliding Mode feature deals with possible model mismatch. Simulation results for time delayed systems corroborating these benefits are presented.


Smith predictor Sliding modes Disturbance rejection Time delay systems Particle swarm optimization 


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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  • Josenalde Oliveira
    • 1
    • 2
    Email author
  • José Boaventura-Cunha
    • 1
    • 3
  • Paulo Moura Oliveira
    • 1
    • 3
  1. 1.INESC TEC—INESC Technology and SciencePortoPortugal
  2. 2.Agricultural School of Jundiaí—Federal University of Rio Grande Do Norte, UFRNMacaíbaBrazil
  3. 3.University of Trás-os-Montes E Alto DouroSchool of Sciences and TechnologyVila RealPortugal

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