Sliding mode control with integral corrector: design and experimental application to an interconnected system

In this paper, a solution is proposed in order to solve the chattering avoidance problem in variable structure control for a class of uncertain non linear systems with external disturbances. This approach is based on Sliding Mode Control (SMC) with integral corrector in the boundary layer to synthesize a robust control system. The stability and the performances of the closed-loop system are proven analytically using the Lyapunov synthesis approach. The proposed methods attenuate the effect of both uncertainties and external disturbances; moreover it attenuates the chattering phenomenon introduced by classical sliding-mode control. The application of this method to the two-tank system illustrates the validity and the performances of this approach. The experimental results are presented and compared in this paper.