ABSTRACT
Integral sliding mode seeks to eliminate the reaching phase by enforcing sliding mode throughout the entire system response. The robustness property of conventional sliding mode control with respect to variations of system parameters and external disturbances can only be achieved after the occurrence of sliding mode. Sliding mode plays a dominant role in variable structure systems theory. The core idea of designing VSS control algorithms consists of enforcing sliding mode in some manifold of state space. Integral sliding mode may also be used to prevent chattering in a control loop, often caused by controller discontinuities exciting unmodeled dynamics. A crucial part of the nature of sliding mode control schemes is the control discontinuity. The chattering effect, which was a major drawback of sliding mode control, is reduced using the proposed algorithms, while preserving the robustness and the accuracy of the control system.
