단일 폐루프 테스트를 통한 온라인 슬라이딩 모드 제어기 동조

On-Line Sliding Mode Controller Tuning from a single closed loop test

The calculation of parameters of a process model is modified to find that better sliding mode controller for a process with time delay. A design method by Camacho has such problems as chattering, overshoot due to the Pade approximation errors for the time delay term of the first order model. In this paper, a new design technique for a sliding mode controller is proposed by introducing the modified Pade approximation considering the weight factor. The modified method is expected to provide a more accurate model with better control settings.