0
Research Papers

Design of Sliding Mode Controller With Proportional Integral Sliding Surface for Robust Regulation and Tracking of Process Control Systems

[+] Author and Article Information
C. B. Kadu

Department of Instrumentation & Control,
Pravara Rural Engineering College,
Loni 413736, Maharashtra, India
e-mail: chandrakant_kadu@yahoo.com

A. A. Khandekar

Department of Electronics &Telecommunication,
Zeal College of Engineering & Research,
Pune 411041, Maharashtra, India
e-mail: aniket.khandekar.vit@gmail.com

C. Y. Patil

Department of Instrumentation
and Control Engineering,
College of Engineering (COEP),
Pune 411005, Maharashtra, India
e-mail: cypatil@gmail.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received September 30, 2017; final manuscript received February 8, 2018; published online March 30, 2018. Assoc. Editor: Hashem Ashrafiuon.

J. Dyn. Sys., Meas., Control 140(9), 091004 (Mar 30, 2018) (8 pages) Paper No: DS-17-1496; doi: 10.1115/1.4039468 History: Received September 30, 2017; Revised February 08, 2018

This paper deals with the design of sliding mode controller (SMC) with proportional plus integral sliding surface for regulation and tracking of uncertain process control systems. However, design method requires linear state model of the system. Tuning parameter of SMC has been determined using linear quadratic regulator (LQR) approach. This results in optimum sliding surface for selected performance index. Matched uncertainty is considered to obtain the stability condition in terms of its upper bound. A conventional state observer has been used to estimate the states. The estimated states are then fed to controller for determining control signal. The simulation study and experimentation on real-life level system have been carried out to validate performance and applicability of the proposed controller.

FIGURES IN THIS ARTICLE
<>
Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

O'Dwyer, A. , 2009, Handbook of PI and PID Controller Tuning Rules, 3rd ed., Imperial College Press, London. [CrossRef]
Astrom, K. J. , and Hagglund, T. , 1995, PID Controllers: Theory, Design and Tuning, 2nd ed., ISA, Durham, NC.
Wang, Q. G. , Lee, T. H. , Fung, H. W. , Qiang, B. , and Zhang, Y. , 1999, “ PID Tuning for Improved Performance,” IEEE Trans. Control Syst. Technol., 7(4), pp. 457–465. [CrossRef]
Tavakoli, S. , Griffin, I. , and Fleming, P. J. , 2006, “ Tuning of Decentralised PI (PID) Controllers for TITO Processes,” Control Eng. Pract., 14(9), pp. 1069–1080. [CrossRef]
Maghade, D. K. , and Patre, B. M. , 2012, “ Decentralized PI/PID Controllers Based on Gain and Phase Margin Specifications for TITO Processes,” ISA Trans., 51(4), pp. 550–558. [CrossRef] [PubMed]
Wang, Q. G. , Zhang, Z. , Astrom, K. J. , and Chek, L. S. , 2009, “ Guaranteed Dominant Pole Placement With PID Controllers,” J. Process Control, 19(2), pp. 349–352. [CrossRef]
Malwatkar, G. M. , Sonawane, S. H. , and Waghmare, L. M. , 2009, “ Tuning PID Controllers for Higher-Order Oscillatory Systems With Improved Performance,” ISA Trans., 48(3), pp. 347–353. [CrossRef] [PubMed]
Utkin, V. I. , 1992, Sliding Modes in Control and Optimization, Springer, Berlin. [CrossRef]
Hung, J. Y. , Gao, W. , and Hung, J. C. , 1993, “ Variable Structure Control: A Survey,” IEEE Trans. Ind. Electron., 40(1), pp. 2–22. [CrossRef]
Ginoya, D. , Shendge, P. , and Phadke, S. , 2015, “ State and Extended Disturbance Observer for Sliding Mode Control of Mismatched Uncertain Systems,” ASME J. Dyn. Syst. Meas. Control, 137(7), p. 074502. [CrossRef]
Talole, S. , and Phadke, S. , 2008, “ Model Following Sliding Mode Control Based on Uncertainty and Disturbance Estimator,” ASME J. Dyn. Syst. Meas. Control, 130(3), p. 034501. [CrossRef]
Deshpande, V. , and Phadke, S. , 2012, “ Control of Uncertain Nonlinear Systems Using an Uncertainty and Disturbance Estimator,” ASME J. Dyn. Syst. Meas. Control, 134(2), p. 024501. [CrossRef]
Camacho, O. , Rojas, R. , and García, W. , 1999, “ Variable Structure Control Applied to Chemical Processes With Inverse Response,” ISA Trans., 38(1), pp. 55–72. [CrossRef]
Eker, I. , 2010, “ Second-Order Sliding Mode Control With Experimental Application,” ISA Trans., 49(3), pp. 394–405. [CrossRef] [PubMed]
Camacho, O. , Rojas, R. , and Gabin, V. G. , 2007, “ Some Long Time Delay Sliding Mode Control Approaches,” ISA Trans., 46(1), pp. 95–101. [CrossRef] [PubMed]
Chen, C. T. , and Peng, S. T. , 2005, “ Design of a Sliding Mode Control System for Chemical Processes,” J. Process Control, 15(5), pp. 515–530. [CrossRef]
Khandekar, A. A. , and Patre, B. M. , 2014, “ Discrete Sliding Mode Control for Robust Tracking of Time-Delay Systems,” Syst. Sci. Control Eng., 2(1), pp. 457–464. [CrossRef]
Khandekar, A. A. , and Patre, B. M. , 2015, “ Decentralized Discrete Sliding Mode Controller for TITO Processes With Time Delay With Experimental Application,” Int. J. Dyn. Control, 5(3), pp. 614–628. [CrossRef]
Musmade, B. B. , and Patre, B. M. , 2015, “ Sliding Mode Control Design for Robust Regulation of Time-Delay Processes,” Trans. Inst. Meas. Control, 37(6), pp. 699–707. [CrossRef]
Khandekar, A. A. , Malwatkar, G. M. , and Patre, B. M. , 2013, “ Discrete Sliding Mode Control for Robust Tracking of Higher Order Delay Time Systems With Experimental Application,” ISA Trans., 52(1), pp. 36–44. [CrossRef] [PubMed]
Hajare, V. , Khandekar, A. , and Patre, B. , 2017, “ Discrete Sliding Mode Controller With Reaching Phase Elimination for TITO Systems,” ISA Trans., 66, pp. 32–45. [CrossRef] [PubMed]
Pai, M. C. , 2010, “ Design of Adaptive Sliding Mode Controller for Robust Tracking and Model Following,” J. Franklin Inst., 347(10), pp. 1837–1849. [CrossRef]
Han, X. , Fridman, E. , and Spurgeon, S. , 2012, “ Sliding Mode Control in the Presence of Input Delay: A Singular Perturbation Approach,” Automatica, 48(8), pp. 1904–1912. [CrossRef]
Camacho, O. , and De la Cruz, F. , 2004, “ Smith Predictor Based-Sliding Mode Controller for Integrating Processes With Elevated Deadtime,” ISA Trans., 43(2), pp. 257–270. [CrossRef] [PubMed]
Mihoub, M. , Nouri, A. S. , and Abdennour, R. B. , 2009, “ Real-Time Application of Discrete Second Order Sliding Mode Control to a Chemical Reactor,” Control Eng. Pract., 17(9), pp. 1089–1095. [CrossRef]
Mihoub, M. , Nouri, A. S. , and Abdennour, R. B. , 2011, “ A Second Order Discrete Sliding Mode Observer for the Variable Structure Control of a Semi-Batch Reactor,” Control Eng. Pract., 19(10), pp. 1216–1222. [CrossRef]
Musmade, B. B. , and Patre, B. M. , 2013, “ Feedforward-Plus-Sliding Mode Controller Design With Experimental Application of Coupled Tank System,” Trans. Inst. Meas. Control, 35(8), pp. 1058–1067. [CrossRef]
Kadu, C. , Khandekar, A. , and Patil, C. , 2017, “ Sliding Mode Controller With State Observer for Tito Systems With Time Delay,” Int. J. Dyn. Control, epub.
Sekher, M. , M'Saad, M. , Farza, M. , and Gehan, O. , 2008, “ Chemical Process Sliding Mode Control,” Int. J. Modell. Identif. Control, 5(4), pp. 260–267. [CrossRef]
Rojas, R. , Camacho, O. , and González, L. , 2004, “ A Sliding Mode Control Proposal for Open-Loop Unstable Processes,” ISA Trans., 43(2), pp. 243–255. [CrossRef] [PubMed]
Mihoub, M. , Nouri, A. S. , and Ben Abdennour, R. , 2009, “ A Real Time Application of Discrete Second Order Sliding Mode Control to a Semi-Batch Reactor: A Multimodel Approach,” Int. J. Modell. Identif. Control, 6(2), pp. 156–163. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

System output, control signal and sliding surface for simulation example: (a) system output, (b) control signal, and (c) sliding surface

Grahic Jump Location
Fig. 2

System output for simulation example under 20% uncertainty

Grahic Jump Location
Fig. 3

Effect of variation in delay on system output, control signal, and sliding surface for simulation example: (a) system output, (b) control signal, and (c) sliding surface

Grahic Jump Location
Fig. 4

Liquid-level system

Grahic Jump Location
Fig. 6

System output, control signal, and sliding surface for experimentation: (a) level, (b) control signal, and (c) sliding surface

Grahic Jump Location
Fig. 7

Control signal and sliding surface of Camacho's SMC for experimentation: (a) control signal and (b) sliding surface

Grahic Jump Location
Fig. 8

System output and control signal for experimentation with input disturbance: (a) output and (b) control signal

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In