The desired performance of nonlinear systems by using only proportional-integral-derivative (PID) controllers is difficult to obtain because of its simple structure. To improve the control performance of nonlinear systems, we proposed a PID with a switching action (PIDSA) controller that only adds the switching action of a sliding mode control (SMC) while maintaining the structure of the PID. The PIDSA controller has the simplicity of PID and the robustness of SMC. In addition, a double integral sliding surface (DISS) was designed to match the characteristics of the PID with the switching action. The stability of the overall system was proved for nonlinear systems by performing the Lyapunov stability analysis. Finally, experiments were conducted on a hydraulic manipulator, which is a highly nonlinear system. The results show that the proposed controller exhibits excellent performance and that DISS enhances the performance compared with using an integral sliding surface.

仅使用比例积分微分（PID）控制器就无法获得所需的非线性系统性能，因为其结构简单。为了提高非线性系统的控制性能，我们提出了一种带开关作用的PID（PIDSA）控制器，该控制器仅在保持PID结构的同时增加了滑模控制（SMC）的开关作用。PIDSA控制器具有PID的简单性和SMC的鲁棒性。此外，还设计了一个双整体滑动面（DISS）来将PID的特性与开关动作相匹配。通过执行Lyapunov稳定性分析，证明了非线性系统对整个系统的稳定性。最后，在液压操纵器上进行了实验，该操纵器是一个高度非线性的系统。