Optimized sliding mode control for input-output linearized MIMO nonlinear system

The paper presents an optimized sliding mode control (SMC) scheme for an input-output linearized multiple-input multiple-output (MIMO) nonlinear systems with mismatched disturbances. This method uses a change of coordinates regarding iterated lie-derivatives of the system output. A PID based SMC is designed for the input-output linearized nonlinear system to ensure robustness against mismatched disturbances. The probabilistic particle swarm optimization (PPSO) technique, optimize the SMC parameters without knowing the bounds on system disturbances. Numerical simulations are carried out to prove the efficacy of the proposed control method. The stability analysis of the system is proved by using Lyapunov theory. The simulation results reveal that the proposed controller is more useful for reducing the chattering and tracking error. Besides, it shows more robustness against disturbances and faster transient responses of the system with a reduced steady-state error.