Adaptive PI-Based Sliding Mode Control for Nanopositioning of Piezoelectric Actuators

Table 2

Parameters of the implemented controllers.

Controller	Parameter	Value
SMC	𝜆	10000
	𝑘	3×10^7
	Φ	0.01
APISMC	𝑘𝑝	2×10^5
	𝑘𝑖_initial	1
	𝜆	80000
	𝛿	0.01