Design an Integral Sliding Mode Controller for a Nonlinear System

The goal of this paper is to design a robust controller for controlling a pendulum system. The control of nonlinear systems is a common problem that is facing the researchers in control systems design. The Sliding Mode Controller (SMC) is the best solution for controlling a nonlinear system. The c...

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Autores principales:	Ahmed Khalaf Hamoudi, Noora Off Abdul Rahman
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2017
Materias:	Chattering phenomenon Classical sliding mode controller Integral sliding mode controller Switching surface Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/2ab60163810e4f2cbbaf567839b0cd13
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spelling	oai:doaj.org-article:2ab60163810e4f2cbbaf567839b0cd132021-12-02T10:50:06ZDesign an Integral Sliding Mode Controller for a Nonlinear System10.22153/kej.2017.09.0031818-11712312-0789https://doaj.org/article/2ab60163810e4f2cbbaf567839b0cd132017-03-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/342https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 The goal of this paper is to design a robust controller for controlling a pendulum system. The control of nonlinear systems is a common problem that is facing the researchers in control systems design. The Sliding Mode Controller (SMC) is the best solution for controlling a nonlinear system. The classical SMC consists from two phases. The first phase is the reaching phase and the second is the sliding phase. The SMC suffers from the chattering phenomenon which is considered as a severe problem and undesirable property. It is a zigzag motion along the switching surface. In this paper, the chattering is reduced by using a saturation function instead of sign function. In spite of SMC is a good method for controlling a nonlinear system but it still suffers from long settling time which is considered as undesired property. The Integral Sliding Mode controller (ISMC) can be used to reduce the settling time. Also, the ISMC is a good method for controlling a nonlinear systems. ISMC is simple, has a high performance and can be considered as an effective and powerful technique. In ISMC method, the reaching phaseis eliminated which considered a main part in designing classical SMC. The important property of the ISMC as well as the Classical Sliding Mode Controller (CSMC),is the ability to make the systems asymptotically stable. The pendulum system was used for testing the CSMC and ISMC. The results obtained from the simulation showed the advantages of using the ISMC when comparied with the CSMC. Finally, MATLAB software package was adopted in this paper. Ahmed Khalaf HamoudiNoora Off Abdul RahmanAl-Khwarizmi College of Engineering – University of BaghdadarticleChattering phenomenonClassical sliding mode controllerIntegral sliding mode controllerSwitching surfaceChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 13, Iss 1 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chattering phenomenon Classical sliding mode controller Integral sliding mode controller Switching surface Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chattering phenomenon Classical sliding mode controller Integral sliding mode controller Switching surface Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Ahmed Khalaf Hamoudi Noora Off Abdul Rahman Design an Integral Sliding Mode Controller for a Nonlinear System
description	The goal of this paper is to design a robust controller for controlling a pendulum system. The control of nonlinear systems is a common problem that is facing the researchers in control systems design. The Sliding Mode Controller (SMC) is the best solution for controlling a nonlinear system. The classical SMC consists from two phases. The first phase is the reaching phase and the second is the sliding phase. The SMC suffers from the chattering phenomenon which is considered as a severe problem and undesirable property. It is a zigzag motion along the switching surface. In this paper, the chattering is reduced by using a saturation function instead of sign function. In spite of SMC is a good method for controlling a nonlinear system but it still suffers from long settling time which is considered as undesired property. The Integral Sliding Mode controller (ISMC) can be used to reduce the settling time. Also, the ISMC is a good method for controlling a nonlinear systems. ISMC is simple, has a high performance and can be considered as an effective and powerful technique. In ISMC method, the reaching phaseis eliminated which considered a main part in designing classical SMC. The important property of the ISMC as well as the Classical Sliding Mode Controller (CSMC),is the ability to make the systems asymptotically stable. The pendulum system was used for testing the CSMC and ISMC. The results obtained from the simulation showed the advantages of using the ISMC when comparied with the CSMC. Finally, MATLAB software package was adopted in this paper.
format	article
author	Ahmed Khalaf Hamoudi Noora Off Abdul Rahman
author_facet	Ahmed Khalaf Hamoudi Noora Off Abdul Rahman
author_sort	Ahmed Khalaf Hamoudi
title	Design an Integral Sliding Mode Controller for a Nonlinear System
title_short	Design an Integral Sliding Mode Controller for a Nonlinear System
title_full	Design an Integral Sliding Mode Controller for a Nonlinear System
title_fullStr	Design an Integral Sliding Mode Controller for a Nonlinear System
title_full_unstemmed	Design an Integral Sliding Mode Controller for a Nonlinear System
title_sort	design an integral sliding mode controller for a nonlinear system
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2017
url	https://doaj.org/article/2ab60163810e4f2cbbaf567839b0cd13
work_keys_str_mv	AT ahmedkhalafhamoudi designanintegralslidingmodecontrollerforanonlinearsystem AT nooraoffabdulrahman designanintegralslidingmodecontrollerforanonlinearsystem
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Design an Integral Sliding Mode Controller for a Nonlinear System

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