ROBUST FUZZY DISCRETE SLIDING MODE CONTROL BASED ON LYAPUNOVS DIRECT METHOD

An algorithm for a robust, fuzzy-logic based, slidingmode control is proposed for a class of discrete sys-tems. The algorithm is based on input/output mea-surements and is suitable for real-time control. Itcombines soft-computing methods with advanced slid-ing mode control. The controller design is carried outvia Lyapunov™s direct method. The new controller iscompared to the optimally tuned PID controller andshows an increased robustness with regard to the vari-ation of the main process parameters and much betterset point tracking characteristics. The new controlleralso exhibits very good disturbance rejection proper-ties comparable or better than that obtained by theoptimally tuned PID controller.Keywords: soft computing, real-time algorithms,fuzzy logic, sliding mode control, discrete time sys-tems, robust control, process control

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