Design of Sliding Mode Controller using artificial delay

This paper presents the output feedback Sliding Mode Controller (SMC) designs, and studies the performances of the controllers via simulation. Firstly, static output feedback SMC for a class of linear uncertain systems has been considered. For this purpose, the system should satisfy the following two assumptions, i.e. reduced order dynamics along the sliding surface must be stabilizable and rank of the input matrix pre-multiplied by the output matrix is of full rank. A SMC is designed for a particular numerical example and a DC motor system and its performance has been verified through simulation study. Subsequently, the SMC design for the class of systems not satisfying the first assumption is considered. In that case, the SMC has been designed by using an artificial delay in the controller. Such a controller design and existence of sliding mode is studied.