o2.b8 Time Figure 3: Closed Loop Step Resp onse of the per Figure 7: PID Controller Control Effort turbed model G3(s) Controller Control effort Figure 8: Sliding Mode Controller Control Effort0 5 10 Closed loop Step Response of System 3 1 0.8 0.6 0.4 0.2 0 1.2 Time 15 20 25 30 Sliding Mode Controller PID Controller Fuzzy Logic Controller s❬ó➪ò➍ê❉ö➃è ✶ ✑❱✓■î↕ï❢é②è❫ú❁❤ ï❵ï❢ù ✯ õ➃è✉ù ❥➹è✉é➃ù❑ï❢ô❉é②è➙ïrí➬õ➃ç❉è❚ù❑èsö✗✟ õ➃ê❉ö❈✑❭è❫ú④✡➲ï➡ú➡è✉î ✳✱❀ ý✵✴ ☎ 0 5 10 Control Effort for Fuzzy Logic Controller 1.5 1 0.5 0 -0.5 -1 -1.5 2 Time 15 20 25 30 System3 System2 System1 (nominal) s❬ó➪ò➍ê❃ö②è ✫✆✑❣s❉ê❃ð✉ð✉ñ✔❤qï❢ò➍ó①ë✩✓■ï❢ô❵õ➃ö②ï❢î↕î➪è✉ö✦✓■ï➍ô◆õ➃ö②ï➍î ✥❈qï➍ö②õ 0 5 10 Control Effort for PID Controller 1.5 1 0.5 0 -0.5 -1 -1.5 2 Time 15 20 25 30 System3 System2 System1 (nominal) s❨ó➪ò❢ê❉ö②è ✳✆✑❣❺❣✼❈❻ ✓■ï➍ô◆õ②ö➃ï➍î➪î➪è✉ö✩✓■ï➍ô◆õ②ö➃ï➍î ✥❈qï➍ö➃õ 0 5 10 Control Effort for Sliding Mode Controller 2 1 0 -1 -2 -3 3 Time 15 20 25 30 System3 System2 System1 (nominal) s❬ó➪ò➍ê❃ö②è ❃✆✑ ✯ î➪ó①ú◆ó➪ô❉ò ☞➐ï➡ú➡è ✓■ï➍ô◆õ②ö➃ï➍î➪î➪è✉ö✦✓■ï➍ô◆õ②ö➃ï➍î ✥❈qï➍ö➃õ