It is well known that sliding-mode control can give good transient performance and system robustness. However, the presence of chattering may introduce problems to the actuators. Many chattering elimination methods use a finite dc gain controller which leads to a finite steady-state error. One method to ensure zero steady-state error is using a proportional plus integral (PI) controller. This p...

In this paper, a few chattering-free Sliding Mode Controllers (SMC) are proposed to stabilize an Active Magnetic Bearing (AMB) system with gyroscopic effect that is proportional to the rotor speed. The improved switching terms of the controller inherited from the saturation-type function and boundary layer control technique is shown to be able to achieve bounded and asymptotic stability, respec...

The objective of this paper is to compare the time specification performance between conventional controller PID and modern controller SMC for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart’s position. The inverted pendulum represents a challenging control problem, which continually moves toward ...

This paper presents a real time implementation of a sliding mode controller (SMC) for the underactuated BERUL fingers. The use of SMC is to deal with the inaccuracies and unmodelled nonlinearities in the dynamic model of the robotic fingers, in particular, to overcome significant friction and stiction. This paper in particular shows a practical implementation of Cartesian space control for the ...

The objective of this work is to provide a simple and effective nonlinear controller. Our strategy involves switching the underlying strategies in order to maintain a robust control. If a disturbance moves the system outside the region of stability or the domain of attraction, it will be guided back onto the desired course by the application of a different control strategy. In the context of sw...

This paper presents the design principles of sliding mode controller, which is implemented in coupled tank system. The Sliding Mode Control (SMC) controller exhibited a robust stability can overcome nonlinearities, reduce disturbances and noise that occur work start with mathematical modelling system using second order single input output (SISO) technique. Then, began by deriving surface accord...

A proportional-integral (PI) controller and a sliding mode controller (SMC) are used to control a fourth-order Boost-Boost (BB) converter in continuous conduction mode with two input switches and two output voltages. Based on the equivalent control method, a closed-loop system is developed. The resultant PI gains have a nonlinear relationship with each other. The appropriate PI gains are obtain...

To implement renewable energy resources, microgrid systems have been adopted and developed into the technology of choice to assure mass electrification in the next decade. Microgrid systems have a number of advantages over conventional utility grid systems, however, they face severe instability issues due to the continually increasing constant power loads. To improve the stability of the entire...

This paper introduces a sliding mode control (SMC) based equivalent control method to a novel high output gain Cuk converter. An additional inductor and capacitor improves the efficiency and output gain of the classical Cuk converter. Classical PI controllers are widely used in DC-DC converters. However, it is a very challenging task to design a single PI controller operating in different load ...

The purpose of this paper is the design of neural network-based adaptive sliding mode controller for uncertain unknown nonlinear systems. A special architecture adaptive neural network, with hyperbolic tangent activation functions, is used to emulate the equivalent and switching control terms of the classic sliding mode control (SMC). Lyapunov stability theory is used to guarantee a uniform ult...