Sliding mode based disturbance compensation for motion control

The main contribution of this paper is a sliding mode based design of a discontinuous disturbance estimator used in feedback compensation of parameter uncertainties and exogenous disturbances. The experimental system is a transputer controlled single-degree-of-freedom motion control system, it consists of a conventional DC servo gear motor with encoder feedback and variable inertia load coupled by a relatively rigid shaft. The servo system is forced to follow an ideal model. The relative big parameter perturbation, external disturbance and friction are estimated and compensated. Experimental results are presented.