title: Optimal second order sliding mode control for linear uncertain systems.
abstract: In this paper an optimal second order sliding mode controller (OSOSMC) is proposed to track a linear uncertain system. The optimal controller based on the linear quadratic regulator method is designed for the nominal system. An integral sliding mode controller is combined with the optimal controller to ensure robustness of the linear system which is affected by parametric uncertainties and external disturbances. To achieve finite time convergence of the sliding mode, a nonsingular terminal sliding surface is added with the integral sliding surface giving rise to a second order sliding mode controller. The main advantage of the proposed OSOSMC is that the control input is substantially reduced and it becomes chattering free. Simulation results confirm superiority of the proposed OSOSMC over some existing.
authors.affiliation: Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India. Electronic address: madhulika@iitg.ac.in.
authors.forename: Madhulika
authors.initials: M
authors.lastname: Das
authors.affiliation: Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India. Electronic address: chitra@iitg.ernet.in.
authors.forename: Chitralekha
authors.initials: C
authors.lastname: Mahanta
keywords: Chattering mitigation; Integral sliding surface; Linear uncertain systems; Optimal control; Second order sliding mode control; Terminal sliding surface