Parameter selection method for sliding mode controllers and its application to a nonlinear physical system

In this paper, effective control parameter selection methods necessary for practical implementations of standard, first order dynamic, and complex valued sliding manifold sliding mode controllers are derived. The methods are applied to design controllers by using already presented control theory by Pieper and Shepit (1995, 1998, and 2003). Extensive real-time implementation results obtained by implementing the designed controllers to a physical fourth order cart and pendulum system demonstrate the affectivity of the method