Abstract

In this paper we propose a sliding mode control strategy for cascade systems. Models of first and second order are utilized to design the internal and external control loop respectively. The dead time is considered in the control tunning, which is performed by optimization of the integral square error subject to the existence of sliding mode conditions. A simulation study was performed for a non-linear system representing a Hot-Cold water tank. In addition we study the benefits of our proposal for disturbances and changes in the set-point for the dynamical system.