Discrete Integral Sliding Mode Control for Motion Servo System

Abstract:

This paper presents a discrete integral sliding mode control (DISMC) to control motion servo system. In DISMC, the order of the motion equation is equal to the order of original system. The past value of the disturbance is taken as the estimate of its present value. The controller is designed to be capable to achieve tracking even for the uncertain system. The designed controller will be compared with Linear Quadratic Regulator (LQR) and discrete Proportional Integral derivative (PID) controller to observe the capability for controlling the system. Simulations demonstrate that the DISMC is highly robust to control although exist uncertainties in the system.

• Periodical: Applied Mechanics and Materials (Volume 793)
• Pages: 595-599
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.793.595
• Online since: September 2015
• Authors: R. Ngadengon, Y.M. Sam, J.H.S. Osman, R. Tomari
• Keywords: Discrete Sliding Mode Control, Integral Sliding Mode

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