PID based on Sliding Mode Control Design from a Reduced Order Model: A Practical Evaluation

Abstract

In this work, a robust PID controller proposal is presented. The proposed controller design is based on sliding mode control concepts from a first order plus dead-time model of the nonlinear processes. The processes for testing are a variable delay mixing tank and a Temperature Control Lab device, considered a single input and single-output system. The proposed controller is compared against the conventional PID controller and a Sliding Mode Controller using the ISE and TVu performance indexes.