title: Discrete sliding mode control for robust tracking of higher order delay time systems with experimental application.
abstract: In this paper, a discrete time sliding mode controller (DSMC) is proposed for higher order plus delay time (HOPDT) processes. A sliding mode surface is selected as a function of system states and error and the tuning parameters of sliding mode controller are determined using dominant pole placement strategy. The condition for the existence of stable sliding mode is obtained by using Lyapunov function. The proposed method is applicable to HOPDT processes with oscillatory and integrating behavior, open loop instability or non-minimum phase characteristics and works satisfactory under the effect of parametric uncertainty. The method does not require reduced order model and provides simple way to design the controllers. The simulation and experimentation results show that the proposed method ensures desired tracking dynamics.
authors.affiliation: Department of Electronics and Telecommunication Engineering, Dnyanganga College of Engineering and Research, Narhe, Pune 411041, India.
authors.forename: A A
authors.initials: AA
authors.lastname: Khandekar
authors.forename: G M
authors.initials: GM
authors.lastname: Malwatkar
authors.forename: B M
authors.initials: BM
authors.lastname: Patre
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D008962:Models, Theoretical