Robust position control of a DC motor by sliding mode

Abstract

The position of the DC motor is controlled by using a continuous sliding mode control (SMC), which is highly robust to the Coulomb friction torque and to high unknown payload variations, which involve changes in the rotational inertia of the motor shaft. The main contribution of the work is the experimentation of a SMC control which does not requires the knowledge of the payload variation range, i.e., the system is quite robust to any unknown change in the payload mass value. © 2010 Springer Berlin Heidelberg.