볼-빔 시스템에서 채터링 감소를 위한 슬라이딩 모드 제어 설계

The sliding mode controller is applied to ball and beam system. Sliding mode control is a popular robust control method which rejects the external disturbance. However, the sliding mode controller has a defect which is chattering problem. In this paper, we propose a sliding mode control design with chattering reduction for ball and beam system. We verify the validity of our proposed method through simulation results.