Robust PID control for a class of unmatched uncertain systems

Abstract

This paper presents the control of unmatched uncertain systems by sliding mode controller. The sliding surface is designed by using the proportional-integral-derivative (PID) gain parameters called robust PID. The control is derived from second-order sliding modes. Comparison of PID and robust PID control in presence of disturbances has been made. A numerical example is taken to illustrate this scheme. The proposed technique is validated through simulation. The simulation results demonstrate the better performance of robust PID than PID controller in presence of disturbances.