Nonlinear Robust Sliding Mode Control for PM Linear Synchronous Motors

Abstract

A new nonlinear robust control scheme of permanent magnet linear synchronous motors (PMLSM) is proposed in this paper. A quasi-linearized and decoupled model with uncertainties is derived by the mathematical model of PMLSM according to its characteristic. A fixed-boundary sliding mode controller using the msat function is designed to guarantee the robustness and remove the chattering which usually exists in normal sliding mode control. Design of a force observer is given to estimate the load force unknown in the new model. The validity of the proposed algorithm compared with the conventional PID control scheme is proved by MATLAB simulation results