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integral sliding mode surface equation in simulink

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i built a comparation result for my 3 degree of freedom robot arm controller in simulink for both sliding mode and integral sliding mode controller, i write the sliding mode and works fine but i coudn't write the integral sliding mode controller, any help please?
where E are error from the desired displacemnt and actual displaement (teta1-teta2) and are gains. the question is how can i write derivative of s in simulink, really appreciate your help
Aliff Ashraff
Aliff Ashraff on 23 Jun 2020
same for me but iama working on coupled tank system. Do you know how to write coding for the integral part?
chengqi on 20 Nov 2021
Hi, can you share me with the matlab code about the integral sliding mode controller showed by you?
My email address is

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