Optimal Cascaded Terminal Sliding Mode Controller for third-order DC motor model

Applying Terminal Sliding Mode Control (TSM) for a third-order system is always challenging. Most of the cases, authors use a Cascaded type of TSM (CTSM) to control those systems. But with two separate phases of sliding mode the final results may not be optimal. This article presents the Optimal Cascaded TSM controller applying for a third-order DC motor model to enhance the convergence time of the system by avoiding twisting phenomenon. The simulation was taken in Matlab environments.