Abstract
The integral sliding mode control, existing in literature is a combination of nominal control and a discontinuous feedback control. Discontinuity in feedback control, is not suitable for many practical applications due to the practical limitations of actuators, known as chattering. In this paper, the integral sliding-mode control law is modified for linear as well as nonlinear systems with matched disturbance replacing the discontinuous part of the feedback control by a super-twisting control. Replacement is possible due to the unique feature of disturbance observation property of the super-twisting algorithm. The proposed controller is continuous due to the combination of two continuous controls. The effectiveness of the modified control law is shown by the simulation on a practical setup-Quanser SRV-02 for position control.
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