IAE optimal sliding mode control for second order dynamical systems

Sliding mode control systems are known to be computationally efficient and insensitive with respect to matched disturbance and parameter uncertainty. However, if conventional time invariant sliding planes are employed, then the highly desirable insensitivity is obtained only after some time from the beginning of the control process. Therefore, in this paper a new time-varying switching line is introduced. The line is designed so that the integral absolute error is minimized and the reaching phase is eliminated. Consequently, on the one hand good dynamic performance of the controlled system is obtained, and on the other its insensitivity right from the start of the control action is ensured.