PERFORMANCE EVALUATION OF THE REACHING LAWS IN SLIDING MODE CONTROL ON THE MASS SPRING DAMPER SYSTEM

Abstract

In this paper, the reaching laws in the sliding mode control (SMC) will be
evaluated. The reaching laws include the constant rate reaching law, the
exponential reaching law, and the power rate reaching law. A mass spring
damper system (MSD) is chosen to test and evaluate the performance of the
proposed controller. The MSD system has been applied in most dynamic
suspension systems to provide more reliability of the design requirements such
as increasing the factors of safety or absorbing the impact forces. The SMC based
on the reaching laws will be designed to guarantee the real position of the MSD
system following the reference. Simulation results in MATLAB/Simulink show
that the SMC provides better performance than the traditional PID controller,
and the SMC based on the exponential reaching law is suitable to control the
MSD system with the overshoot is about 0.154(%), the steady-state error is
eliminated, the settling time is 0.4043(s), and the rising time achieves 0.2248(s).