SMC Algorithm Comparison
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0
1
2
3
4
5
6
7
8
9
10
Time (s)
Output
Output Response
x0=(1,0.5)
x0=(3,1)
x0=(5,2)
x0=(10,3)
Reference
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0
10
20
30
40
50
Time (s)
s(t)
Sliding Surface
x0=(1,0.5)
x0=(3,1)
x0=(5,2)
x0=(10,3)
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
-100
-80
-60
-40
-20
0
20
40
60
80
100
Time (s)
u(t)
Control Signal
x0=(1,0.5)
x0=(3,1)
x0=(5,2)
x0=(10,3)
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Performance Comparison
PerformanceMetrics:x0=(1,0.5):tᵣ=0.152s,chatter=1344.4x0=(3,1):tᵣ=0.2s,chatter=2732.2x0=(5,2):tᵣ=0.8s,chatter=3346.8x0=(10,3):tᵣ=1.0s,chatter=4563.5