Optimal adaptive sliding mode controller for linear uncertain systems

In this paper an optimal adaptive sliding mode controller for linear uncertain systems is proposed. The optimal control law is based on linear quadratic technique and the sliding surface is of integral type. An adaptive tuning approach is used to estimate the unknown but bounded uncertainties. System robustness and stability are proved by using the Lyapunov stability criterion. The proposed controller is applied for stabilizing as well as tracking of uncertain systems. Simulation results show that the proposed controller is capable of optimizing the control input while offering better transient performance.