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In process control, most of the control variables are position quantity which needs to be smooth, such as the opening of valve. In order to get smooth control, a smooth full-order sliding mode controller is proposed. Since the switching term in the proposed method is put into the second derivative of control u, the control u is smooth and its derivative is continuous. The proposed method is tested in drum water level control of the ship boiler, and the results show the effectiveness of the proposed method

Smooth Sliding Mode Control and Its Application in Ship Boiler Drum Water Level