Abstract

Integral Sliding Mode Control (ISMC) has emerged as an advanced alternative to classical Sliding Mode Control (SMC), offering improvements in chattering reduction and robustness to uncertainties and disturbances. While numerous studies have explored the application of ISMC in various systems, a comprehensive understanding of its control energy consumption, especially in systems with bounded control inputs, remains limited. This paper aims to address this gap by conducting a comparative analysis of the control energy expenditure between ISMC and traditional SMC. The investigation will focus on a fundamental and widely used system: a second-order drive. By directly comparing the energy requirements of both control strategies in this context, this research seeks to provide valuable insights into the practical applicability and efficiency of ISMC, particularly concerning its potential for increased energy demand due to the integral sliding surface design. The findings of this study will contribute to a more informed selection of appropriate control methodologies for various engineering applications.