Integral augmented variable structure control: design and testing

Discusses the concept and design tool for integral variable structure control with a focus on the application to a position control system. Integral variable structure control has been proposed to alleviate steady state error caused by the boundary layer method. An integral switching surface is constructed by adding extra integral dynamics to the conventional switching surface. A convenient and practical design tool for a second order system has been developed here. Experiments were conducted for both classic and integral variable structure controls. The implementation of controllers are presented along with experimental test results