Linear features of robot servo-system controlled in sliding mode

The article describes exploitation of a new novel control technique - Sliding Mode for design and control of a robotic system. Method for the design of switching surface is presented and possibility of second and third order prescribed behavior in sliding movement is shown. The resulting system behavior can be describe by it transfer function and characteristics generally used for linear systems can be used for prediction of final system output response. The control structure is implemented in microcontroller with simplified acceleration feedback based on current measurement. This simplification is sufficient for testing of linear principles.