A Discrete Adaptive Second Order Neuro Sliding Mode Control For Uncertain Nonlinear System

Despite its simplicity, rapidity and robustness, sliding mode control (SMC) steel has some important limits especially for nonlinear systems. In this study, we introduce a new discrete second order neuronal SMC with adaptive gain to overcome the chattering phenomenon and ensure robustness against nonlinearities and high parameter uncertainties. The proposed strategy is applied to an inverted pendulum. The simulation results give a significant improvement and a chattering free state compared with the results obtained using neuronal SMC without adaptive gain.