Some long time delay sliding mode control approaches

This paper presents a combined approach of predictive structures with sliding mode control (SMC). Control schemes have been proposed looking for performance and robustness improvement. These structures were designed for processes that can be approximated either by a first order plus time delay or an integral first order plus time delay model broadly used on chemical processes. The proposed schemes were tested for performance and robustness against set point changes and disturbances as compared with classical approaches.