Multivariable non-singular terminal composite sliding mode control of gas-water-coal mixture lifting system.

In order to ensure the stability of flow rate and valve pressure difference during gas-water-coal mixture lifting, a multivariable non-singular terminal composite sliding mode (MNTCSM) controller based on accurate feedback linearization is proposed. The multi-input multi-output nonlinear system with time delay and coupling is transformed into a multi-input multi-output uncoupled linear system by using an improved Smith predictor and accurate feedback linearization. At the same time, the MNTCSM controller is designed to make the flow and pressure tracking errors of the decoupling system converge to zero in a finite time.