Integral Nested Sliding Mode Control: Application to the Induction Motor

Abstract

In this work we design an integral nested sliding mode control for a certain class of nonlinear systems with unknown matched and unmatched perturbations. It is well known that sliding modes is robust against matched perturbations. In order to introduce robustness, we make use of a novel nested sliding mode procedure, that in combination with integral sliding mode-technique will reduce the sliding function gains. Then, the controller here designed is applied to the induction motor, where the nominal parameters are known, the load torque is an unknown perturbation term with known upper bound, the stator and rotor resistances are varying, where its respective upper bounds are known