Sliding Mode Control Design Using PIR Sliding Surface for Second Order Systems

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dc.contributor.authorTeke, Ibrahim Halil
dc.contributor.authorTan, Nusret
dc.date.accessioned2026-04-04T13:33:24Z
dc.date.available2026-04-04T13:33:24Z
dc.date.issued2026
dc.departmentİnönü Üniversitesi
dc.description.abstractThis study proposes a new Sliding Mode Control (SMC) approach in which a proportional-integral-retarded (PIR) structure is employed as the sliding surface for second-order dynamical processes. Unlike conventional sliding surfaces that rely on proportional-derivative structures, the proposed PIR sliding surface integrates proportional, integral, and intentional delay terms directly into the surface definition, thereby eliminating explicit derivative action while improving transient shaping capability and noise robustness. The proposed PIR sliding surface offers an alternative sliding surface design perspective by embedding delay-based dynamics directly into the surface formulation, enabling derivative-free implementation and enhanced design flexibility, rather than aiming for universal performance dominance over existing PID/PI-based sliding surface designs. A complete analytical formulation is provided, including the derivation of the PIR-based sliding surface, the associated closed-form SMC control law, and a Lyapunov-based stability analysis ensuring finite-time convergence and closed-loop stability. The controller parameters are optimally tuned using the MATLAB fmincon algorithm based on four integral performance criteria, namely ISE, IAE, ITSE, and ITAE. The proposed PIR-SMC scheme is evaluated through comprehensive simulation studies on a second-order electromechanical system. The results demonstrate fast reference tracking, reduced overshoot, and accurate steady-state performance. Robustness is further assessed by applying +/- 10% variations to the process parameters without retuning, where consistent dynamic behavior is maintained. Additionally, by delivering an external disturbance at various time instants, the suggested controller's disturbance rejection capability is examined. In all cases, the PIR-SMC-controlled system suppresses the disturbance effectively and restores the output to the reference value within 0.5-1 s without steady-state error. Comparative analyses indicate that ISE-based optimization provides superior transient performance, while ITAE-based optimization minimizes long-duration errors. Overall, the proposed PIR sliding surface-based SMC offers a robust and flexible control framework suitable for second-order processes and represents a viable alternative to conventional sliding surface based designs.
dc.identifier.doi10.1109/ACCESS.2026.3663311
dc.identifier.endpage23970
dc.identifier.issn2169-3536
dc.identifier.scopus2-s2.0-105029883331
dc.identifier.scopusqualityQ1
dc.identifier.startpage23956
dc.identifier.urihttps://doi.org/10.1109/ACCESS.2026.3663311
dc.identifier.urihttps://hdl.handle.net/11616/109132
dc.identifier.volume14
dc.identifier.wosWOS:001694529400025
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherIeee-Inst Electrical Electronics Engineers Inc
dc.relation.ispartofIEEE Access
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_WOS_20250329
dc.subjectRobustness
dc.subjectSurface treatment
dc.subjectSliding mode control
dc.subjectNoise
dc.subjectDelays
dc.subjectTuning
dc.subjectTransient analysis
dc.subjectOptimization
dc.subjectAttenuation
dc.subjectTransient response
dc.subjectPIR control
dc.subjecttime delay
dc.subjectPIR SMC
dc.subjectsliding surface
dc.subjectcontrol law
dc.subjectdisturbance rejection
dc.titleSliding Mode Control Design Using PIR Sliding Surface for Second Order Systems
dc.typeArticle

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