Adaptive Sliding Mode Control with PID Tuning for Uncertain Systems

The goal is to achieve system robustness against parameter variations and external disturbances. Suitable PID control gain parameters can be systematically on-line computed according to the developed adaptive law. To reduce the high frequency chattering in the switching part of the controller, the boundary layer technique is utilized. The proposed method controller is applied to a brushless DC motor control system. Simulation results demonstrate that satisfactory trajectory tracking is achieved effectively and the input chattering is eliminated completely.