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Position and speed control of the torpedo present a real problem for theactuators because of the high level of the system non linearity and because ofthe external disturbances. The non linear systems control is based on severaldifferent approaches, among it the sliding mode control. The sliding modecontrol has proved its effectiveness through the different studies. Theadvantage that makes such an important approach is its robustness versus thedisturbances and the model uncertainties. However, this approach implies adisadvantage which is the chattering phenomenon caused by the discontinuouspart of this control and which can have a harmful effect on the actuators. Thispaper deals with the basic concepts, mathematics, and design aspects of acontrol for nonlinear systems that make the chattering effect lower. Assolution to this problem we will adopt as a starting point the high ordersliding mode approaches then the PID sliding surface. Simulation results showthat this control strategy can attain excellent control performance with nochattering problem.

A High Order Sliding Mode Control with PID Sliding Surface: Simulation on a Torpedo