• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.722-726
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• 2007

In this paper we deal with a design of the integral sliding mode controller to suppress the disturbance force acting on the suspension system of the magnetically levitated train system. One of the important factors that cause the disturbance force acting on the suspension system comes from the low propulsion speed of linear induction motor. In this paper integral sliding mode controller is employed to reject the disturbance force produced by the propulsion system of the linear induction motor. In order to show the effectiveness of the designed controller a dynamic simulation is utilized and the sliding mode controller without integral compensator is compared with the proposed integral sliding mode controller to suppress the disturbance force.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.9
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• pp.526-537
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• 2000

This paper deals with a sliding mode controller with integral compensation in a magnetic suspension system The control scheme comprises an integral controller which is designed for achieving zero steady-steate error under step disturbance input and a sliding mode controller which is designed for enhancing robustness under plant parametric variations. A procedure is developed for determining the coefficients of the switching plane and integral control gain such that the overall closed-loop system has stable eigenvalues. A proper continuous design signal is introduced to overcome the chattering problem. The performance of a magnetically suspended balance beam using the proposed integral sliding mode controller is illustrated. Simulation and experimental results also show that the proposed method is effective under the external step disturbance and input channel parametric variations.

• Nuclear Engineering and Technology
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• v.52 no.3
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• pp.552-559
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• 2020

This paper presents an observer-based chattering free robust optimal control scheme to regulate the total power of a nuclear reactor. The non-linear model of nuclear reactor is linearized around a steady state operating point to obtain a linear model for which an optimal second order integral sliding mode controller is designed. A second order integral sliding mode observer is also designed to estimate the unmeasurable states. In order to avoid the chattering effect, the discontinuous input of both observer and controller are designed using the super-twisting algorithm. The proposed controller is realized by combining an optimal linear tracking controller with a second order integral sliding mode controller to ensure minimum control effort and robustness of the closed-loop system in the presence of uncertainties. The condition for the selection of gains of discontinuous control based on the super-twisting algorithm is derived using a strict Lyapunov function. Performance of the proposed observer based control scheme is demonstrated through non-linear simulation studies.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.417-423
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• 2016

Using a sliding mode controller and observer techniques, this paper presents a robust current controller for a DC motor in the presence of parametric uncertainties. One of the most important issues in the practical application of sliding mode schemes is the chattering phenomenon caused by switching actions. This paper presents a novel sliding mode controller that incorporates an integral control with a sliding mode disturbance observer to attenuate the chattering by reducing the controller/observer switching gains. The proposed sliding mode disturbance observer is designed to estimate a relatively slow varying signal in the equivalent lumped disturbance owing to system uncertainties. Combining the estimated uncertainty with the sliding mode control input, the proposed controller can achieve the control objective by using the relatively low gain of the controller. The proposed disturbance observer does not include the switching control input of the baseline sliding mode controller to reduce the observer switching gain. In the proposed approach, the integral sliding mode control is used to improve the steady state control performance. Comparative computer simulations are carried out to demonstrate the performance of the proposed method. Through the simulation results, the proposed controller realizes the robust performance with reduced current ripples.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.12
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• pp.1152-1160
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• 2007

In this paper we deal with a design of integral sliding mode controller to reject the disturbance force acting on the suspension system in the magnetically levitated system which is propelled by the linear induction motor. The control scheme comprises an integral controller which is designed for achieving zero steady-state error under step disturbances, and a sliding mode controller which is designed for enhancing robustness under plant uncertainties. A proper continuous design signal is introduced to overcome the chattering problem. The disturbance force produced by the linear motor is formularized by using a curve fitting of the experimental raw data. Computer simulations show the effectiveness of the designed integral sliding mode controller to reject the disturbance force.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.8
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• pp.1874-1882
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• 2015

In this paper, robust backstepping controller for IPMSM is proposed based on the PID integral sliding mode control. Because of the unmatching condition of load, the sliding mode control is difficult to be used for IPMSM without backstepping. However, the backstepping control has the difficulty of deriving error dynamics which is derived by differentiating the previous input. This difficulty is avoided by adopting PID as a nominal controller for the integral sliding mode control. The proposed controller can be achieved easily by adding integral sliding controller to the conventional PID controller.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2262-2264
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• 2002

In this paper, the integral sliding mode controller developed by Utkin is considered. It is pointed out that some theoretical consideration has to be added to that controller. Another type of integral sliding mode controller developed by Park is also considered. These integral sliding mode controllers have very important results in the extension of the robustness of sliding mode to the other linear control technique.

• Journal of Power Electronics
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• v.15 no.2
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• pp.378-388
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• 2015

This paper proposes a pulse width modulation (PWM)-based sliding mode controller (SMC) for a full-bridge DC-DC converter that can eliminate static output voltage error. Hysteretic SMC in DC-DC converter does not have a fixed switching frequency, and applying hysteretic SMC to full-bridge converters is difficult. Fixed-frequency SMC, which is also called PWM-based SMC, based on equivalent control overcomes these shortcomings. However, the controller order reduction in equivalent control in PWM-based SMC causes static output voltage error. To resolve this issue, an integral item is added to the PWM-based SMC. Sliding mode coefficients are designed by applying a standard second-order system to the sliding mode surface. The effect of adding an integral item on the controller is analyzed, and an integral coefficient design method is proposed. Experiment results on a three-level full-bridge DC-DC converter verify the control scheme and design method proposed in this paper.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.6
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• pp.1167-1172
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• 2010

In this paper, a new discrete integral variable structure controller based on the a new sliding surface and discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed integral sliding surface. The discrete version of disturbance observer is derived for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined integral sliding surface for guaranteeing the designed output in the integral sliding surface from any initial condition for all the parameter variations and disturbances. Using Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.623-629
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• 2010

In this paper, a new robust variable structure controller based on a nonlinear integral type sliding surface is presented for the control of uncertain systems with mismatched uncertainties and disturbance. A nonlinear integral type sliding surface is suggested for removing the reaching phase. After its ideal sliding dynamics is obtained, the two design methods are presented. A corresponding control input is proposed to satisfy the closed loop stability in the sense of Lyapunov and the existence condition of the sliding mode on the nonlinear integral type sliding surface, which will be investigated in Theorem 1. Through a design example and simulation study, the usefulness of the proposed controller is verified.