Second-order sliding mode control design and experimental application to a servo motor

Abstract

In this study, first-order and second-order sliding mode speed controller for the Precision Modular Servo (PMS) setup produced by Feedback Instruments is proposed. The second-order sliding mode controller which permits decimate of the chattering phenomena is designed to control the real time speed of this electromechanical system. The Lyapunov stability theorem is used to confirm the stability of the system. And first-order and second-order sliding mode speed controllers are compared with each other. Experimental results are compared under condition of the same control strategy. The experimental results confirm that the offered super-twisting algorithm sliding mode controller eliminates the chattering while preserving the robustness of the control.