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Journal of Engineering
Volume 2013, Article ID 614803, 6 pages
Research Article

Design of Combined Sliding Mode Controller Back Stepping Using Genetic Algorithm

Department of Electrical Engineering, Islamic Azad University, Gonabad Branch, Gonabad, Iran

Received 28 December 2012; Revised 3 March 2013; Accepted 4 March 2013

Academic Editor: H. P. S. Abdul Khalil

Copyright © 2013 Atefeh Marvi Moghadam and Saeed Balochian. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This research has tried to achieve a new robust controller with back stepping control and sliding mode control method. Also as we know, in all analytical controllers there are constant coefficients like the back stepping and sliding mode controllers, redesigning the Lyapunov and the feedback linearization, - and so forth. There are two major problems in their set: firstly, the adjustment is cumbersome and time-consuming. Secondly, assuming that these parameters can be adjusted to workability, a designer can never tell exactly what are the parameters chosen to be optimal. To resolve this problem, the numerical algorithm which is a genetic algorithm is used here and we have the optimal parameters of the proposed controller. That genetic algorithm (GA) has been used to solve difficult engineering problems that are complex and difficult to solve by conventional optimization methods, and at the end of this section, we apply a new robust controller on ball and beam system. Simulation results are expressed.