Tuning equations for sliding mode controllers: An optimal multi-objective approach for non-minimum phase systems

This article proposes an approach to create tuning equations based on optimal multi-objective design specifically for Sliding Mode controllers applied to non-minimum phase processes that can be approximated to a First-Order-Plus-Deadtime class of systems. This is achieved by taking into account various performance criteria, including tracking, controller action, and transient response. The proposed tuning equations aim to achieve a well-balanced trade-off among competing objectives. The paper presents a systematic framework for formulating the multi-objective optimization problem and derives analytical expressions for the tuning parameters based on the desired performance specifications. The effectiveness of the proposed method is demonstrated through simulations in three dynamic processes: a high-order linear system with dominant delay, a high-order plus inverse response system, and a nonlinear process with variable parameters and dominant deadtime. A comparative analysis with an existing SMC tuning technique shows superior performance results. This paper provides valuable information on the optimization procedure for obtaining analytical tuning equations for controllers, offering a promising avenue for improving the performance of control systems in practical applications.