A New Sliding-Mode Control Algorithm with Simulation

A sliding-mode variable structure control algorithm with integral compensation was presented for the electromechanical servo tracking system. It contains the disturbance and the plant parameter variation. To obtain the optimal sliding mode, the switching function is determined by reaching condition. The integral gain and control function are obtained by quadratic optimization. An asymptotic state observer is presented to eliminate chattering. Simulation results show that this new control algorithm exhibits the better accurate servo tracking effect and better dynamic characteristics and robustness than the classical control. It provides high-performance dynamic characteristics and robustness. Moreover, chattering is avoided.