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In this paper, the nonlinear Sliding Mode Control (SMC) with varying boundary layers is implemented to improve the tracking performance of a nonlinear system. The key feature of the control scheme is the use of varying boundary layers instead of fixed boundary layers, which are usually employed in conventional SMC. The experimental results strongly suggest that the proposed control scheme is capable of improving the tracking precision without causing any chattering. In addition, the new control scheme seems to be very robust against various set point conditions.