  In this thesis, advanced design technique in sliding mode control (SMC) is
presented with focus on PID (Proportional-Integral-Derivative) type Sliding
surfaces based Sliding mode control with improved power rate exponential
reaching law for Non-linear systems using Modified Particle Swarm Optimization
(MPSO). To handle large non-linearities directly, sliding mode controller based
on PID-type sliding surface has been designed in this work, where Integral term
ensures fast finite convergence time. The controller parameter for various
modified structures can be estimated using Modified PSO, which is used as an
offline optimization technique. Various reaching law were implemented leading
to the proposed improved exponential power rate reaching law, which also
improves the finite convergence time. To implement the proposed algorithm,
nonlinear mathematical model has to be decrypted without linearizing, and used
for the simulation purposes. Their performance is studied using simulations to
prove the proposed behavior. The problem of chattering has been overcome by
using boundary method and also second order sliding mode method. PI-type
sliding surface based second order sliding mode controller with PD surface
based SMC compensation is also proposed and implemented. The proposed
algorithms have been analyzed using Lyapunov stability criteria. The robustness
of the method is provided using simulation results including disturbance and
10% variation in system parameters. Finally process control based hardware is
implemented (conical tank system).
