Modified Sliding Mode Controller with Extended Kalman Filter for Stochastic Systems

In this paper, we proposed a modified sliding mode controller with chattering free and high robust for stochastic systems. The proposed controller uses an integration term of the error in the sliding surface and uses a continuously exponentially varying time sliding surface to eliminate the chattering problem. Also a model-based state estimator that works with system errors and noisy measurements is presented based on the extended Kalman filter (EKF). The estimator is then used in a nonlinear and robust control algorithm based on sliding mode control. The proposed controller can result in fast transient dynamics and keep the robustness properties. By using the proposed controller, we make it applicable in automation industry. Also a systematic design procedure of sliding mode controller for nonlinear system is presented. To verify superiority of the proposed controller, the proposed controller applied to a nonlinear model of a permanent magnet synchronous motor (PMSM) where we assume that the only output accessible to measure is the angular velocity.