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Integral-Optimal Sliding Mode Control for Vertical Take-Off and Landing System

In this paper an Integral Sliding Mode Control (ISMC) based on Linear Quadratic Regulator with Integral action (LQI) as sliding surface for a Vertical Take-Off and Landing (VTOL) System is presented. The main target is check the robustness of ISMC for several experimental tests under parametric uncertainties and external disturbances. The experimental results are compared against LQI controller. In order to validate the proposed controller, the Integral Square Error (ISE) performance index is used. The controllers were implemented on the QNET VTOL trainer.