A New Algorithm for Continuous Sliding Mode Control With Implementation to Industrial Emulator Setup

This paper presents a new control algorithm for obtaining continuous sliding mode control, based on integral sliding-mode control (ISMC), where the discontinuous part of the ISMC is replaced with a continuous control. It is shown that the well-known super twisting control (STC), which replaces the discontinuous part of the ISMC acts as a disturbance observer, and hence, cancels the matched disturbance. As the overall controller is continuous the proposed method is advantageous over the existing ISMC, which has a discontinuous term. Also from the practical implementation point of view, in particular for mechanical systems, discontinuous term will result in chattering, which is undesirable. The proposed algorithm has been implemented on a practical system and its superiority has been demonstrated.