Design of Predefined Time Convergent Sliding Mode Control for a Nonlinear PMLM Position System
Round 1
Reviewer 1 Report
Authors have presented an innovative topic in the study.
1] Modifications in the abstract is required. Significance and Objectives are not clear.
2] Line number 62-65 needs modifications, meaning is not clear.
3] Contributions are well defined.
4]Significance of Figure 1.
5] Justification of Eq.9 and 10
6] Importance of Eq. 20, check the numbering of the equations
7] Why step tacking control is required in table 3.
8] Results are nicely analyzed.
9] conclusions can be improved to increase the understanding.
Author Response
Reviewer 1
Authors have presented an innovative topic in the study.
- Modifications in the abstract is required. Significance and Objectives are not clear.
Response: Thanks for the comments. We have revised the abstract accordingly and highlighted in the main manuscript.
- Line number 62-65 needs modifications, meaning is not clear.
Response: Thanks for the valuable comments. We have revised these mentioned lines and highlighted in the main manuscript.
- Significance of Figure 1.
Response: We have revised according the suggestion and highlighted in the main manuscript.
- Justification of Eq.9 and 10
Response: Thanks for the comments. We have modified the Eq.9, and highlighted in the main manuscript.
- Importance of Eq. 20, check the numbering of the equations
Response: Thanks for the comments. Nonsingular fast terminal SMC has the character of finite time convergence, but the convergence time is related with the control parameter and state initial value , this paper proposed a predefined time convergence controller, and the convergence time independent of the control parameters and initial state values, so ,select this controller for comparison.
We have revised the manuscript and highlighted in the main manuscript.
- Why step tacking control is required in table 3.
Response: Step tracking is important to compare the results of different control techniques. We have revised the manuscript and highlighted in the main manuscript.
- Results are nicely analyzed.
Response: Thank you so much for the valuable comments.
- Conclusions can be improved to increase the understanding.
Response: Thank for the comments. We have revised the manuscript and highlighted in the main manuscript.
Author Response File: 
Author Response.pdf
Reviewer 2 Report
Lack of comparative analysis. More comparative analysis witht he existing literature needs to be done.
Insufficient results presented to justify the novelty and main contribution of the work.
Objective functions and applications are missing.
Introduction needs to be updated with more new and related stories to show the research gaps.
Author Response
Reviewer 2
- Lack of comparative analysis. More comparative analysis with the existing literature needs to be done.
Response: Comparative analysis have been done accordingly and control parameters with references are given in table 2 and highlighted in the main manuscript. Thank you so much for the valuable comments.
- Insufficient results presented to justify the novelty and main contribution of the work.
Response: The novelty of the paper has been highlighted and given in the main introduction part. It is also worth mentioning that the comparative analysis have been done accordingly and control parameters with references are given in table 2 and highlighted in the main manuscript.
- Objective functions and applications are missing.
Response: Thanks for the valuable suggestions. The objective is defined in the abstract and we have revised the main manuscript. Red highlighted portion shows the changes in the manuscript.
- Introduction needs to be updated with more new and related stories to show the research gaps.
Response: We have addressed the valuable comment. Introduction part is revised and highlighted.
Author Response File: Author Response.pdf
Reviewer 3 Report
Improve Abstract. It is very confusing.
The manuscript needs a propound review and editing of the writing
The title of the paper need precision …”design of, analysis of, development of, evaluation of…”
The introduction has many holes of information. The relevance of the proposal is not highlighted in the context of control of PMLM. The advantages, benefits, and contribution of the work is not clearly stated and discussed. The review of other works is only a narrative account of the use of sliding mode control in different systems do not focus around critically analyzing controls about PMLM.
Why table 1 is in the middle of the introduction?
Change fig. 2 for one of better quality
Figs. 3-6 show a comparative of different control behavior. Where the Authors found this controls because no reference is indicated?
Improve Conclusions
Which are the benefits of the proposals in the long term?
Author Response
Reviewer 3
- Improve Abstract. It is very confusing.
Response: We have revised the abstract and now main objective and contribution is clearly defined and highlighted in the main manuscript.
- The manuscript needs a propound review and editing of the writing
Response: Thanks for the valuable suggestions. We have revised the main manuscript comprehensively. The revised parts are highlighted with red letters in the manuscript.
- The title of the paper need precision …”design of, analysis of, development of, evaluation of…”
Response: We have revised the title as “Design of predefined time convergent sliding mode control for a Nonlinear PMLM position system ” and highlighted in the main manuscript.
- The introduction has many holes of information. The relevance of the proposal is not highlighted in the context of control of PMLM. The advantages, benefits, and contribution of the work is not clearly stated and discussed. The review of other works is only a narrative account of the use of sliding mode control in different systems do not focus around critically analyzing controls about PMLM.
Response: The introduction has been revised and the novelty of the paper has been highlighted and given in the main manuscript. It is also worth mentioning that the comparative analysis have been done accordingly and control parameters with references are given in table 2 and highlighted in the main manuscript.
- Why table 1 is in the middle of the introduction?
Response: Table 1 has been moved and given the end of the manuscript. Thanks
- Change fig. 2 for one of better quality
Response: Figure2 has been revised replaced with high quality.
- 3-6 show a comparative of different control behavior. Where the Authors found this controls because no reference is indicated?
Response: The comparative analysis have been done accordingly and control parameters with references are given in table 2 and highlighted in the main manuscript.
- Improve Conclusions
Response: The conclusion has been revised thoroughly and future recommendations are also given in the end.
- Which are the benefits of the proposals in the long term?
Response: The proposed Predefined time control can also be designed for the robotics applications. It is also worth noting that this type of controller can be designed for MIMO systems as well.
Author Response File: Author Response.pdf
Reviewer 4 Report
A robust predefined time convergent sliding mode controller (PreDSMC) is designed for the high precision position tracking of a permanent magnet linear motor (PMLM) system with external disturbance, and its convergence time is independent of the system's initial value and model parameters. We have verified theoretically that the performance function conditions are satisfied, the motor speed is steady and constrained, and the motor position tracking error converges to zero within the prescribed time. First, we have designed a sliding mode (SM) surface with predetermined time convergence, which mathematically demonstrates that the tracking error converges to zero within the predefined time and shows that the position tracking accuracy is higher. Secondly, we have designed an independent of initial state PreDSMC law based on the predefined time convergence Lyapunov stability criterion. Finally, to prove the accuracy and higher precision of the proposed PreDSMC, comparative numerical simulations are performed for PMLM with compound disturbances. The numerical results verify that the controller presented in this paper has strong robustness and high-precision tracking characteristics compared to other existing control laws. The paper is acceptable in its current form. Thank you.Author Response
Reviewer 4
The paper is acceptable in its current form. Thank you.
Response: Thank you so much.
Round 2
Reviewer 2 Report
No more comments
