Diseño y simulación de controladores dinámicos por modo deslizantes aplicado a procesos no lineales aproximables a un modelo de primer orden con retardo

Abstract

Sliding mode control is known in non-linear systems to deal with modeling problems, disturbances or uncertainties, but there is a disadvantage known as "chattering" (high frequency oscillations) that appear in the control signal, these signals cause damage to the final control elements that in time result in constant maintenance or total replacement of the equipment. One option to counteract this effect is the use of smoothing functions, but with the disadvantage of decreasing the controller performance. An alternative to maintain performance by minimizing the effect of chattering is the use of dynamic sliding mode controllers, however, its traditional design is not simple. To solve this problem, new dynamic controllers are proposed based on the combination of internal model schemes and the sliding mode control theory to obtain control laws with fixed structure, robust and with higher performance, making the chattering problem reduced to minimum possible