This paper proposes multivariable integral sliding mode controller for any Multi Input Multi Output (MIMO) system. The conventional integral sliding mode controller consists of a nominal control and a discontinuous feedback control such that the overall control is discontinuous in nature. The discontinuity in feedback control is undesirable for practical applications due to chattering. In this paper the existing integral sliding mode control law for MIMO systems with matched disturbances is modified by replacing the discontinuous part by a multivariable super twisting algorithm. This proposed controller is continuous in nature due to the combinations of two continuous controls and also disturbance can be rejected successfully. The effectiveness of the proposed control method has been demonstrated with the simulation results. © 2015 IEEE.

Bijnan Bandyopadhyay

Department of Electrical Engineering

IIT Jodhpur

K.P. Ramesh

S. Kamal

A. Chalanga

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Journal	2015 International Workshop on Recent Advances in Sliding Modes, RASM 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.