Abstract
This paper proposes a design method of frequency shaped sliding mode servo control system. First, switching hyperplane is introduced as that it includes an integral element for the controlled deviation to remove the steady-state error, and a switching condition of the reachability to the switching surface is deduced using the eventual sliding mode. Next, a linear operator with dynamics is introduced to the switching hyperplane, and a frequency dependent weight matrix is introduced as that controlled deviation can be suppressed for certain frequencies. The switching hyperplane has frequency characteristics, so that the chatter motion is decreased. Finally, the frequency-shaped sliding mode servo system is applied to the control of the fluid temperature and liquid level interacting plant to confirm the effectiveness.
