Upgrading a linear controller to a sliding mode one: Theory and experiments

This article proposes a procedure for upgrading linear proportional controller to sliding mode one preventing degradation of control quality. Two nonlinear algorithms are studied in this context: Unit and Homogeneous Sliding Mode Controllers (SMCs). The parameters the controllers defined using gains (already well-tuned) controller. main idea is split state-space into two regions, region control. done via suitable design parameter. theoretical developments validated experimentally on rotary inverted pendulum. Comparisons between already well-tuned proposed upgraded presented. experiments pendulum demonstrate that significantly improves precision without signal.