The sliding mode control action is robust performance against round
trip time delay and uncertainty.
Is you know the Fixed construction of PID controller could not be covered the wide range of operating points. So, slide modes controller could be achieved the targets goal
sliding mode is better, robust against parameters variation and simple to implement
try to use SUI PID (simplified Universal Intelligent PID) controller explained in detailed in the following paper
https://www.researchgate.net/publication/276911267_A_Novel_Simplified_intelligent_Universal_PID_Controller?ev=prf_pub
Conference Paper A Novel Simplified intelligent Universal PID Controller
I would like to give a comparaison between Sliding mode control and linear control.
Linear P control can be transformed to SMC sign function
PD control ==> Twisting or suboptimal
Linear Backstepping ==> Higher Order Sliging Mode
Now
PI controller ==> Supertwisting Controller
PID ==> ???
Recently researchers (including me) are working on generalising Supertwisting to Higher Order. So you can have robust version of PID by using the Higher Order Supertwisting.
Plz refer to the work of Fridmann in CDC 15 (published since one month). He call the proposed controller : continuous twisting controller, in reality it's second order supertwisting.
You can also refer to my proposed Higher order supetwisting (under review) for arbitrary order.
below the online version:
https://www.researchgate.net/publication/280590093_Higher_order_supertwisting_algorithm_for_perturbed_chains_of_integrators_of_arbitrary_order
Article Higher order supertwisting algorithm for perturbed chains of...
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