Optimised sliding mode control for MIMO uncertain non‐linear system with mismatched disturbances

Abstract

The optimised sliding mode control for a MIMO non-linear system is designed using a proportional, integral and derivative (PID)-based sliding manifold without limiting the bounds on system uncertainties/disturbances. The probabilistic particle swarm optimisation technique is used to optimise the PID coefficients of the sliding manifold and the sliding mode controller gain. The stability of the uncertain non-linear system using this controller is verified by Lyapunov analysis. Simulation results are presented to validate the proposed controller.