Time-Varying Integral Adaptive Sliding Mode Control for the Large Erecting System

Table 2

Time/s	Angle/degree				Control signal/V
	Reference value	TVIASMC	PID	SMC	TVIASMC	PID	SMC
2	1.439	1.469	0.536	1.160	1.788	1.282	1.978
2.1	1.565	1.551	0.863	1.305	1.857	1.374	1.867
2.2	1.694	1.769	0.879	1.198	1.924	1.466	1.782
2.3	1.826	1.791	0.877	1.412	1.987	1.558	1.736
2.4	1.961	1.980	1.099	1.614	2.047	1.649	1.738
2.5	2.099	2.156	1.242	1.546	2.104	1.740	1.794
2.6	2.241	1.938	1.497	1.999	2.158	1.829	1.900
2.7	2.384	2.465	1.385	1.962	2.209	1.917	2.052
2.8	2.530	2.353	1.487	2.020	2.258	2.004	2.239
2.9	2.679	2.690	1.593	2.318	2.305	2.089	2.446
3	2.830	2.867	1.583	2.394	2.349	2.172	2.654
3.1	2.983	2.731	1.965	2.513	2.391	2.254	2.850
3.2	3.138	3.069	1.847	2.580	2.430	2.333	3.013
3.3	3.295	3.581	2.171	2.621	2.468	2.410	3.134
3.4	3.454	3.401	2.321	2.853	2.505	2.486	3.204
3.5	3.615	3.662	2.587	3.039	2.539	2.558	3.217
3.6	3.777	3.836	2.383	3.304	2.571	2.628	3.176
3.7	3.942	4.117	2.915	3.479	2.603	2.697	3.087
3.8	4.108	4.281	2.937	3.499	2.632	2.762	2.963
3.9	4.274	4.251	3.028	3.821	2.660	2.824	2.818
4	4.442	4.469	3.329	3.968	2.687	2.884	2.668
4.1	4.613	4.706	3.530	4.054	2.713	2.942	2.532
4.2	4.783	4.819	3.643	4.137	2.737	2.997	2.423
4.3	4.956	5.227	3.721	4.490	2.761	3.049	2.355
4.4	5.130	5.163	4.174	4.556	2.783	3.099	2.336
4.5	5.303	5.309	4.260	4.637	2.805	3.146	2.371
4.6	5.479	5.331	4.359	4.935	2.826	3.191	2.457
4.7	5.656	5.440	4.745	5.136	2.846	3.233	2.588
4.8	5.833	5.814	4.854	5.110	2.865	3.273	2.750
4.9	6.011	5.887	4.888	5.618	2.883	3.310	2.932
5	6.191	6.155	5.275	5.392	2.901	3.345	3.115