Sliding mode control design and experimental application to an electromechanical plant

Abstract

In recent years, sliding mode control has become a preferred because of its convenience and robustness. And sliding mode control techniques have been commonly employed in a various applications. In this study, the Precision Modular Servo (PMS) setup produced by Feedback is used and the sliding mode controller is designed to control the real time speed of the PMS. Lyapunov stability theorem is used to ensure the stability of the system. Saturation function is preferred to overcome the chattering phenomenon. The results obtained from the real application are compared with those from simulation in dynamic responses of the closed-loop control system. The experimental results confirm that the offered controller provides suitable tracking performance.