Sliding Mode Control of a Pneumatic Muscle System

MATLAB/Simulink model of a pneumatic muscle system with robust second order sliding mode control

This MATLAB Live Script demonstrates the modeling and control of a pneumatic artificial muscle (PAM) using a Sliding Mode Control (SMC) strategy. The example includes:

- Mathematical modeling of the pneumatic muscle dynamics

- Design and implementation of an SMC controller for position or force tracking

- Simulation results showing the effectiveness of the controller

This script can be used for educational purposes, research, or as a reference for anyone interested in advanced control of pneumatic actuators.

Requirements:

- MATLAB R2021a or later (recommended)

- Control System Toolbox

Feel free to modify and adapt the code to your specific application!