Experimental Application of Global Fast Terminal Sliding Mode Controller to TITO System
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Abstract
Comprehensive analysis of a global fast terminal sliding mode control strategy (GFTSMC) for the multivariable laboratory level control system is presented in this paper. The performance of conventional sliding mode controller strategies experiences chattering as switching control input contains the sgn’ function and singularity issues. Moreover, the performance is degraded due to parametric uncertainties and external disturbances. Robustness issues are not well defined in conventional strategies. Global fast terminals remove the chattering effect and eliminate the singularity problem. It has a shorter convergence time and better reaching precision. It shows the finite-time convergence of output variables to the command input. Indirect stability is guaranteed using the direct Lyapunov function. To elicit the performance of the proposed strategy, simulation tests have been conducted on the wood-berry distillation process, while the experimental tests are carried out on a laboratory multivariable process control system. The performance of the proposed strategy is compared to that of conventional sliding mode control and fast terminal sliding mode control.
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