Theoretical and experimental investigation of some sliding mode control techniques used in practice [Pratikte kullanilan bazi kayan kipli kontrol tekniklerinïn teorik ve deneysel incelenmesi]

Sliding mode control is a robust control technique which is able to provide a desired dynamic behaviour in spite of disturbances and uncertainties under matching conditions. in recent years,because of simplicity and robustness,sliding mode control has become popular and various sliding mode control techniques have been developed and taken place in engineering practices. however,it is found that a comprehensive study dealing with the application of these control techniques on various real systems is not available in open literature. in this study,some commonly used sliding mode control techniques are investigated theoretically,and experimentally applying on various real systems. for this purpose,three different types of real systems are used: a single input single output direct current motor driven linear recirculating ball bearing system; a nonlinear simple inverted pendulum; and a single input multiple output underactuated nonlinear cart type inverted pendulum. control of the systems with various control techniques are implemented satisfactorily both theoretically and experimentally. results of simulations and experiments are compared with each other,and various inferences are made and recommendations for further studies are presented.