DESIGN NONLINEAR SYSTEM WITH SLIDING MODE CONTROL

This paper presents result of a research and development of nonlinear system synthesis using sliding mode method to perfect the current sliding mode technique. Actually, the problem is the adjustment certain input control of nonlinear plant so the variable state system reaches the equilibrium point. It was done by choosing a manifol or certain area that once state system enter this area or manifol it will slide to equilibrium point. By defining an area of certain surface, many researchers succeed in using this sliding mode method to determine adjustment certain input control for both linear and nonlinear systems. The main disadvantage of controller of this method is the chattering effect caused by forcement of system to enter the area or sliding surface. This research is to develop a controller synthesis method of new sliding mode in order to produce or to determine adjustment input control by deleting or smoothing chattering effect without decreasing the performance. Replacing the sign function by tan inverse function may deleting or smoothing chattering effect. It is done by ordering the system parameters by considering stability aspects and uncertainty of the system. Based on the result of the simulation pendulum control system, manipulator robot is driven by DC motor in relation to tracking and stabilization and tan inverse function produce a better response of closed loop system