Sliding mode controller design for second-order unstable processes with dead-time

Abstract

A new approach is proposed to design the sliding mode (SM) controller for the unstable second-order plus dead-time (SOPDT) processes. The sliding mode control consists of two control laws ie continuous control law and discontinuous control law. The continuous control law parameters have been derived in terms of unstable SOPDT process parameters using the root locus technique. On the other hand, the parameters of discontinuous control law are tuned by optimizing a performance index using a recently developed metaheuristic search algorithm, namely the grasshopper optimization technique. The performance index is framed to achieve a good trade-off between performance and control efforts. Finally, simulations are conducted to validate the effectiveness of the proposed approach over the other existing techniques. It is observed that the proposed approach is able to deliver better disturbance rejection, minimal control efforts and good setpoint tracking.