IAE Minimization in Sliding Mode Control with Input and Velocity Constraints

In this work an optimal sliding mode controller for second order, nonlinear systems is proposed. First, the surface selected to obtain finite time convergence desired state. Moreover, ensure robustness with respect unknown external disturbances and model uncertainties, time-varying at start of control process it intersects point, whose coordinates are defined by initial Thus, existence ensured whole process. Next, admissible values hyperplane parameters, that satisfaction velocity and/or signal constraints determined. Lastly, these in terms integral absolute error (IAE) calculated. The main motivation paper was good dynamical performance system eliminating reaching phase, overcoming external, obtaining a finite-time representative point other issue include some key limitations such as order facilitate practical application strategy.