Adaptive Chattering-Free PID Sliding Mode Control for Tracking Problem of Uncertain Dynamical Systems

Round 1

Reviewer 1 Report

The author introduced some technical methods for the control systems, especially PID and sliding mode control. Specific concerns are listed as follows:

1. Introduction, P3L98-103, repeat sentences.

2. The novelty of the paper is unclear. If the author first proposes any method/strategy. Please highlight it.

3. Introduction is hard to follow. It is better if the drawback of the traditional methods can be found and compared and highlight why your work is novel and important. 

4. Why the actual q1 (black line) in Fig. 4 is identical to the desired q1 (black line) in Fig. 10? The conflict is apparent. Same problems for Fig. 5. Which make these results inconvincible.

5. As for Table 2. The control parameters are very different. Different parameters could lead to a different dynamic response even with the same controller. How to explain this point?

6. Bode plot or Nyquist plot for different control strategies should be given to have a better comparison.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

The article deals with the topic called " Adaptive Chattering-free PID Sliding Mode Control for Tracking Problem of Uncertain Dynamical Systems". In the article, the authors comprehensively deal with the whole topic, which includes two theorems and their proofs. It is clear from the solution of the individual parts that the authors have been working on the topic for a long time. The topic is clearly processed and the individual parts of the document have a logical connection. The mathematical formulations of the individual expressions seem to be in order. The simulation results correspond to the overall conclusions of the comparison of individual methods of control systems of the two-armed manipulator. The article contains a sufficient amount corresponding to the reference. I recommend the manuscript for publication in a journal Electronics.

Author Response

Many thanks to the reviewers for reviewing our work, and once again our sincere thanks to you.

Reviewer 3 Report

I found no faults with the paper. It seems to be clear in the control scheme that it proposes, and the examples are illustrative enough.

I wonder if the authors could add a couple of paragraphs to show if there is a method to choose the controller parameters (which are just stated as given in lines 314-318). Is there an intuiation behind the choice or is the choice made after trial and error? Would you comment on the proposed algorithm sensitivity to the choice of these values?

One other thins is the Figure 13 plot. Would the authors mind playing with the opacity of the blue line? As it happens it covers the red line of the graph, which is much better off being visible.

Otherwise, thanks for the good read.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

The authors addressed most of my concerns.

Author Response

Many thanks to the reviewers for reviewing our work, and once again our sincere thanks to you.