Sliding mode control with integral augmented sliding surface: design and experimental application to an electromechanical system

In this study, an integral augmented sliding mode control (SMC + I) has been proposed to improve control performance of systems. Stability of the closed-loop system is guaranteed in the sense of Lyapunov stability theorem. The effectiveness of the control solution is established by the stability analysis of the closed-loop system dynamics. The proposed controller is adopted to control speed of an electromechanical system. The experimental set-up reflects the emphasis on the practicability of the proposed sliding mode controller. The experimental results are presented and compared with the results obtained from conventional sliding mode control and Proportional + Integral + Derivative (PID) control. The experimental results verify that the proposed controller provides favorable tracking performance, faster and smoother speed regulation with regard to parameter variations and disturbances. The present study shows that the proposed controller, with its straightforward solution, is easily applicable to industrial problems and an alternative to conventional PID and sliding mode controllers.