Title: Design and experimental evaluation of global sliding mode controller

Authors: A.R. Laware; A.K. Patil; V.S. Bandal; D.B. Talange

Addresses: Department of Electrical Engineering, Dr. Vithalrao Vikhe Patil College of Engineering, Ahmednagar – 414111, India ' Department of Electronics and Telecommunication Engineering, Dr. Vithalrao Vikhe Patil College of Engineering, Ahmednagar – 414111, India ' Government Polytechnic, Pune, India ' Department of Electrical Engineering, College of Engineering, Pune, India

Abstract: The paper considered real-life applicability of global sliding mode controller (GSMCr) for nonlinear uncertain tank process. In a typical sliding mode control (SMC), robustness during reaching phase is not guaranteed. The proposed strategy interrogates the reaching phase, mitigates chattering, and overcomes external disturbances. The control law input has been formulated based on minimum and maximum values of estimated system parameters to alleviate chattering effect. Direct Lyapunov function confirms the stability condition. Proposed method has been designed and implemented to realise a smooth sliding manifold. The efficacy is demonstrated experimentally for laboratory single input single output level control system as well as second-order uncertain servo plant via the simulation tests. The reported results affirm the superiority of control method over typical SMC in terms of speed of process and time-domain specifications. The real-time implementation guarantees the robustness in terms of multi-level set-point changes, parameter variations and disturbance rejection. It shows 33.33% improvements in process variable deviations and 10.71% reduction in chattering as compared to conventional SMC. The simulation example shows 8.51% chattering reduction over prevalent SMC.

Keywords: global sliding mode controller; GSMCr; modelling; identification; control; real-time experimentation.

DOI: 10.1504/IJSCC.2023.127483

International Journal of Systems, Control and Communications, 2023 Vol.14 No.1, pp.40 - 59

Received: 17 Apr 2021
Accepted: 17 Dec 2021
Published online: 06 Dec 2022 *