Sliding mode controller design for a class of nonautonomous systems-an experimental study

The design of a robust controller for non-autonomous uncertain dynamical systems is presented. To assure global sliding throughout the entire response, we propose a sliding mode controller with a robust pole assignment. Design of a nonlinear filter that offers advantages of maintaining robustness and tracking accuracy while reducing chatter is proposed. These schemes are then applied to a magnetic suspension system with unknown mass and unmodeled coil-dynamics for experimental validation. According to the experimental results, the proposed schemes show significant improvement in comparison with the conventional sliding-mode control scheme and the boundary-layer scheme