Sliding mode control and its applications

Sliding Mode Control (SMC) method is one of the robust control methods tohandle systems with model uncertainties, parameter variations and input and outputdisturbances. In this study, a sliding mode control system with an integral (SMC+I)operation is adopted to control speed of an electromechanical system. The proposedsliding mode controller is chosen to ensure the stability of overall dynamics duringthe reaching phase and sliding phase. The stability of the system is guaranteed in thesense of the Lyapunov stability theorem. Chattering problem is overcome using somecontinuous functions such as saturation function, and hyperbolic function.Experimental results verify that the proposed SMC+I controller can achievefavorable tracking performance and is robust with regard to parameter variations anddisturbances compared with the conventional sliding mode controller and PIDcontroller .Keywords: sliding mode control, integral control, experimental application,electrical drive system, conventional control