Title: An integral augmented sliding mode controller: the experimental application to level control plant

Authors: Ajit Rambhau Laware; Bhagsen Jaggnath Parvat; Ravindra Rambhau Navthar

Addresses: Department of Electrical Engineering, Dr. Vithalrao Vikhe Patil College of Engineering, Ahmednagar, India; Savitribai Phule Pune University, Pune, India ' Department of Instrumentation and Control Engineering, Karmaveer Adv. Baburao Thakare, College of Engineering, Nashik, India ' Department of Mechanical Engineering, Dr. Vithalrao Vikhe Patil College of Engineering, Ahmednagar, India

Abstract: It is well-known that servo and regulatory problems in industrial applications requires zero steady-state error. In the absence of an integral-action, uncontrolled systems give steady-state error to some extent or degraded performance under parametric uncertainties and bounded disturbances. Hence, real-time experimentation with integral augmented sliding mode control (IASMC) is adopted to enhance the closed-loop performance of level control plant. Lyapunov candidate function ensures the stability of a system. The practicability of IASMC is guaranteed with laboratory level control model. Experimental results obtained are compared with conventional sliding mode control (SMC) strategies reported by earlier researchers, and proportional-integral-derivative (PID) controller. An evaluation of experimental results with the assumption that nominal plant dynamics are known reveals that the proposed control design method provides a better set-point tracking performance, and fast and smooth level regulation in the presence of external bounded disturbances. It shows better time-domain specifications and error-based performance indices. The study shows that IASMC is applicable to industrial control systems and an alternate control strategy to prevalent design methods.

Keywords: integral control; PID control; real-time experimentation; sliding mode control.

DOI: 10.1504/IJAAC.2024.139432

International Journal of Automation and Control, 2024 Vol.18 No.4, pp.385 - 407

Received: 10 Oct 2022
Accepted: 25 Feb 2023
Published online: 02 Jul 2024 *

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