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integral sliding mode surface equation in simulink

Asked by anteneh tadesse on 15 Mar 2019
Latest activity Edited by anteneh tadesse on 16 Mar 2019
i built a comparation result for my 3 degree of freedom robot arm controller in simulink for both sliding mode and integral sliding mode controller, i write the sliding mode and works fine but i coudn't write the integral sliding mode controller, any help please?
where E are error from the desired displacemnt and actual displaement (teta1-teta2) and are gains. the question is how can i write derivative of s in simulink, really appreciate your help

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