ABSTRACT
In practical control problems there will be a mismatch between the real plant and its developed mathematical model used for control purposes. These mismatches arise from uncertainties due to changes in the plant parameters or due to external disturbances. The performance of any nonlinear dynamical systems that have such uncertainties becomes a challenging task for control engineering; a robust control method is developed to solve this problem which so-called Sliding mode control or Structure variable control is used to construct the sliding mode surface; and, therefore the sliding mode controller for a class of nonlinear dynamical systems. The parameters of the sliding mode control law should be chosen in order to enhance the performance of the controlled system. However, those parameters are said to be chosen arbitrarily using trial-and-error method, this method may take a longer time to find approximately the exact values.
