SLIDING MODE CONTROLLING APPARATUS

摘要

The present invention relates to a novel sliding mode controlling apparatus which can guarantee the accuracy and speed of control as a fuzzy-PID gain tuner is combined. The sliding mode controlling apparatus according to the present invention comprises: a sliding mode control unit for applying a sliding mode control algorithm to an input value and outputting the same; a fuzzy-PID gain tuner unit for controlling a gain for fine adjustment of a proportional coefficient value, a differential value and an integral value for the input value by using a fuzzy-PID control algorithm; and a first addition unit for adding up output values of the sliding mode control unit and the fuzzy-PID gain tuner unit.