Integral sliding mode control for nonlinear systems with prescribed settling time

Abstract

This paper proposes a sliding mode controller design method using an integral sliding surface for a class of nonlinear systems. The method is developed to ensure that the system can effectively track the desired trajectory, with a settling time that can be flexibly adjusted according to the requirements of the actual system. The notable feature of the approach is the use of an integral sliding surface with parameters that are easily tuned, allowing control over the convergence rate of the system. As a result, the error between the actual output and the reference trajectory can be driven to zero within a desired time interval. The controller is designed not only to achieve high control performance but also to offer potential applications in control systems with stringent requirements on controlling the reaction speed. This method is particularly suitable for nonlinear systems with complex dynamic characteristics and strict settling time control requirements. The correctness of the theory and the effectiveness of the method are demonstrated through simulations conducted in Matlab.