Second order sliding mode output feedback control with switching gains—Application to the control of a pneumatic actuator

This paper proposes a switching gains output feedback controller, which is a sample-based second order sliding mode one. First, constructive convergence conditions are established for the controller, in the unperturbed and perturbed cases. Then, a gain adjustment mechanism of the gain, based on the aforementioned convergence conditions, allows us to reduce gain magnitude, and then to reduce the chattering effect. This new algorithm is experimentally applied for the position control of an electropneumatic actuator.