RESUMO
This paper synthesizes a new sliding mode controller (SMC) approach to enhance tracking and regulation tasks by following dual-mode concepts. The new control law consists of two distinct types of operation, using the combination of higher gain to large error signals (transient) and lower gain to small error signals (the region around the set point). The design is presented from a dual-mode (PD-PID) sliding surface operating in concert, fulfilling desired control objectives to ensure stability and performance. Therefore, a new controller was established, and we called it a dual-mode based SMC. The proposed controller is tested by computer simulations applied to two nonlinear processes, a continuous stirred-tank reactor (CSTR) and a mixing tank with a variable dead time. The results are compared with two different alternatives of SMC. In addition, the merits and drawbacks of the control schemes are analyzed using radial graphs, comparing the control methods with various performance measures for set points and disturbances changes. The ITSE (integral of time multiplied by the squared error), TVu (total variation of control effort) indices, Mp (maximum overshoot), and ts (settling time) were the indices used for performance analysis and comparisons.