The real implementation of sliding mode controllers (SMCs) to a DC-DC boost converter is a challenge due to the nonminimum phase behavior of these kinds of converters and the SMCs chattering problem. In this paper, new integral sliding mode control laws with linear and proposed nonlinear sliding surfaces are developed to overcome these problems. An experimental comparative study between these SMCs and the classical SMC applied for a DC-DC boost converter is presented.

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In this paper, we present robust control techniques applied on a manipulator robot system: modified sliding mode control (MSMC) and backstepping control (BSC). The purpose is to evaluate SMC and BSC performances, taking into account the model uncertainties. Then, the obtained results of MSMC technique are compared with those of the adaptive sliding mode. Both methods have comparable simulation results which show a good quality of robustness. However, simulation results prove that the modified SMC is more robust, mostly under the effect of external variations and uncertainties.