Chattering-free sliding mode control of drum water level for ship boiler

Considering the strong load disturbance, mode uncertainties and parameters mismatch in drum water level system, a chattering-free sliding mode control is proposed. Through taking drum water level, its velocity and acceleration into manifold, the sliding mode controller was designed. Taking the sign function into its derivative, the chattering phenomenon can be removed. And by using Lyapunov method, the stability of chattering-free sliding mode control was proved. The conventional sliding mode control was also designed as contrast. And the simulation results demonstrate the effectiveness of proposed method.