A Novel Sliding Mode Control with Low-Pass Filter for Nonlinear Handling Chain System in Container Ports

Table 1

Result comparisons among four methods in Case 1.

Method	ufr(max)	Asymptotic value	Settling time	ufr(25)	ITAE(25)
TM	1.7435	0.5	19.8	0.5018	194.2318
PSO	1.1138	0.1333	26.5	0.1458	61.7083
SMC	1.0000	0	11.2	1.0091 × 10^−5	9.1847
SMC-LPF	1.0000	0	11.3	1.0158 × 10^−5	9.2293