Majlesi Journal of Electrical Engineering Design of Integral Augmented Sliding Mode Control for Pitch Angle of a 3-DOF Bench-top Helicopter Volume 4 (2010) Issue 3, September 2010 2024 02 26 Design of Integral Augmented Sliding Mode Control for Pitch Angle of a 3-DOF Bench-top Helicopter 10.1234/mjee.v4i3.338 EN Amir Zaeri UPM Samsul Bahari Mohd Noor Maryam Mohd Isa Farah Saleena Taip Journal Article 2024 02 26 Sliding mode control (SMC) is a nonlinear controller that is used to achieve desired performance in the presence of unstructured uncertainty as a result of carelessness of parameter specification of the system. The main aim for sliding control, or also called Variable Structure Control, is to control the nonlinear plant by introducing a sliding surface. The sliding surface should be reached by making the state of system approach this level. In this paper, an integral augmented sliding mode control (SMC+I) is proposed to improve the control performance of a plant with uncertainty giving the example of bench-top helicopter and the results are compared with the results obtained from conventional sliding mode control with and without a boundary layer.