Sliding mode control design for robust tracking of open loop stable processes with experimental application

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This paper presents a new method for robust tracking of open loop stable processes using sliding mode control. In this approach, an identified first-order-plus-deadtime model and integro-differential equation as sliding surface is used for sliding mode controller synthesis. The feature of proposed approach is that it shows robustness during desired trajectory tracking in presence of uncertainties and external disturbances. To ensure the stability, tuning parameters of switching control law were derived from Lyapunov stability analysis. Simulation and experimentation studies show that the proposed method is able to provide satisfactory performance compared to some existing methods.