Sliding mode control with integral action and experimental application to an electromechanical system

Abstract

Sliding mode control (SMC) method is one of the robust control methods to handle systems with model uncertainties, parameter variations and disturbances. In this study, a sliding mode control system with an integral (SMC+I) operation is adopted to control speed of an electromechanical system. The proposed sliding mode controller is chosen to ensure the stability of overall dynamics during the reaching phase and sliding phase. The stability of the system is guaranteed in the sense of the Lyapunov stability theorem. Chattering problem is overcome using a hyperbolic function. Experimental results verify that the proposed SMC+I controller can achieve favorable tracking performance and is robust with regard to parameter variations and disturbances compared with the conventional sliding mode controller and PID controller