Efficient Control of Non-linear System Using Modified Sliding Mode Control

Abstract

The control of non-linear systems has been an interesting research topic for many years. It is not feasible to control such systems using linear control because of uncertainties. Non-linear control like Sliding Mode Control (SMC) is robust against these uncertainties. Integration of SMC with Sliding Perturbation Observer (SPO) is a more robust controller with a perturbation compensation technique. Chattering is a drawback of SMC due to a high switching gain, which can be reduced by altering the structure of SMC, by multiplying the gain with the velocity error. Integration of this proportional derivative gain PDSMC with SPO introduces a more robust controller with a faster convergence to the desired state.