A new dynamic sliding mode controller with disturbance observer for controlling integrating processes with time delay

Abstract

This paper suggests a new dynamic sliding mode controller incorporating a disturbance observer for controlling integrating processes with time delay. Here, a new reaching law has been introduced to expedite the system response without evoking chattering. The convergence of this law is also studied. Additionally, the whole system stability is proved using the Lyapunov stability theory. This paper also proposes a new disturbance observer to improve the disturbance rejection and to help suppress chattering further. The suggested observer has only one parameter to be designed. Therefore, this observer can easily be implemented. Several simulation examples and a real-time application are considered to prove the superiority of the suggested controller over the reported controllers in the literature.

KEYWORDS:

• Chattering
• disturbance observer
• dynamic sliding mode control
• integrating processes with time delay
• reaching law

Acknowledgements

The authors would like to thank Dicle University for enabling them to test their proposed methods using the cart pendulum set-up.

Disclosure statement

No potential conflict of interest was reported by the author(s).