High-order sliding modes and intelligent PID controllers: First steps toward a practical comparison

Samer Riachy 1, 2 Michel Fliess 3 Cédric Join 2, 4
2 ALIEN - Algebra for Digital Identification and Estimation
Inria Lille - Nord Europe, Inria Saclay - Ile de France, Ecole Centrale de Lille, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR8146
Abstract : This communication is devoted to a "practical" comparison between high-order sliding modes and the recently introduced model-free control. The perfect knowledge of the relative degree of the output variable, which is a standard assumption for sliding modes, is assumed here. Our comparisons are based on two concrete case-studies and on numerous computer simulations. The smoothness of the input variables, the robustness with respect to noises and the straightforward extendibility of the model-free controllers to MIMO systems are highlighted.
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Samer Riachy, Michel Fliess, Cédric Join. High-order sliding modes and intelligent PID controllers: First steps toward a practical comparison. 18th IFAC World Congress, IFAC WC'2011, Aug 2011, Milan, Italy. pp.CDROM. ⟨hal-00580970⟩

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