Performance Comparison between Sliding Mode Control with PID Sliding Surface and PID Controller for an Electro-hydraulic Positioning System

Rozaimi Ghazali, Yahaya Md Sam, Mohd Fua’ad Rahmat, Abd Wahab Ishari Mohd Hashim, . Zulfatman


In this paper, the position tracking performance of an electro-hydraulic hydraulic servo (EHS) system using sliding mode control (SMC) with proportional-integral-derivative (PID) sliding surface is presented. The dynamics of the EHS system in modelling process are developed by consider its nonlinearities incorporating a friction model. Then, SMC with PID scheme is derived from the developed dynamics equation and stability of the control system is theoretically proven by Lyapunov theorem. Finally, simulation work is demonstrated and the result shows the proposed controller can achieve better tracking performance compared with conventional PID controller with good accuracy for any desired trajectory.


sliding mode control; electro-hydraulic servo system; position tracking control; PID sliding surface

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Published by INSIGHT - Indonesian Society for Knowledge and Human Development