Generalized sliding mode with integrator controller design using a discrete linear model

Abstract

In this article, a method is proposed for designing a sliding mode controller using a discrete linear model for a class of nonlinear systems. In addition, the proposed discrete sliding mode controller is improved by adding an integral operator. The stability, robustness, and performance of the proposed controller are studied theoretically and empirically. One advantage of the proposed method is that the settling time of the proposed controller is lower than the classic one. Also, it is more robust. Other advantages of the proposed method are its simplicity in design, there is no need for physical equations of the nonlinear system, and it only requires the sampled operating data of outputs and control signals of the system. The proposed method has satisfactory results on experimental four-tank benchmark process.