The Design Method of Sliding Mode Controller with Integral Compensation

A design method of sliding mode controller with integral compensation is proposed for a class of nonlinear systems with uncertain in disturbances. To eliminate chattering in sliding mode control, a boundary layer around the switch surface is used. Within the boundary layer, the conventional continuous control and the integral control that is used to improve the system performance in steady-state are applied. Outside the boundary, the sliding mode control is applied to drive the system states into the boundary layer. The control system stability is analyzed, and the control method is verified by designing a controller for an inverted pendulum using the proposed method. Simulation results demonstrate the efficiency of the method.