Design an integral sliding mode controller for a nonlinear system

الملخص EN

The goal of this paper is to design a robust controller for controlling a pendulum system.

The control of nonlinear systems is a common problem The Sliding Mode Controller (SMC) is the best solution for controlling a nonlinear system.

The classical from two phases.

The first phase is the reaching phase and the second is the sl chattering phenomenon which is considered as a severe problem and undesirable property.

It is a zigzag motion along the switching surface.

In this paper, the chattering spite of SMC is a good method for controlling a nonlinear system but considered as undesired property.

The Integral Sliding Mode controller (ISMC) Also, the ISMC is a good method for controlling a nonl be considered as an effective and powerful technique.

In ISMC method, the reaching phaseis eliminated which considered a main part in designing classical S Mode Controller (CSMC),is the ability to make the systems asymptotically stable.

The pendulum system testing the CSMC and ISMC.

The results obtained comparied with the CSMC.

Finally, MATLAB -