Theoretical and experimental investigation of sliding mode control techniques

Sliding mode control is a robust control technique being able to provide a desired dynamic behaviour in spite of uncertainties in system model and disturbances. In recent years, because of simplicity and robustness, sliding mode control has become popular and various sliding mode control techniques have been developed. However, It is not shown that a comprehensive study dealing with the application of these control techniques on various real systems at a time does not exist. In this study, worldwide commonly used sliding mode control techniques were investigated theoretically and experimentally applying on various real systems. For this purpose, three different types of real systems were used, such as a single input single output direct current motor driven linear recirculating ball bearing system, a nonlinear simple inverted pendulum and a single input multiple output underactuated nonlinear cart inverted pendulum. Control of the systems with various control techniques were implemented satisfactorily both theoretically and experimentally, obtained simulation and experimental results were compared with each other, various inferences were made, and recommendations were presented for further studies.