Dynamic Integral Sliding Mode Control of an Electromechanical System

In this study, a dynamic integral sliding mode control is put forward to control the speed of an electromechanical system. The dynamic integral sliding mode control is proposed to make sliding mode control aspects better and remove undesirable chattering effects. Lyapunov theorem is applied to guarantee the system's stability. The system under parameter uncertainty is considered close to the real world industrial systems. The experimental results obtained from the sliding mode control are compared with the experimental results of dynamic integral sliding mode control under parameter uncertainty. Experimental results verify that dynamic integral sliding mode control method provides preferable tracking performance, overcomes chattering, and has better raising time, smaller settling time, and no overshoot. It is robust with respect to parameter variations compared to the sliding mode control.