SLIDING MODE BASED FEEDBACK COMPENSATION FOR MOTION CONTROL

Abstract

The main contribution of this paper is to examine, via experimental investigations of a Type 2 servomechanism, the engineering feasibility of a sliding mode based control design, in which a discontinuous estimator is used in feedback compensation of uncertainties and exogenous disturbances. Experimental results of a transputer controlled single-degree-of- freedom motion control system are presented. The experimental system consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft.