Sliding mode control techniques: Application on a hydraulic plant

The sliding mode control (SMC) is strongly requested due to its robustness against the disturbances. The principle of the sliding mode control is to force the system to converge toward a selected surface and then to evolve there in spite of the uncertainties and the disturbances. The surface is defined by a set of relations between the state variables of the system. However, the chattering phenomenon remains the main disadvantage of this robust control. As solution to this problem, a PID sliding mode approach is exposed and tested in this paper.