외란 관측기를 가지는 슬라이딩 모드 제어를 사용한 직류 전동기의 위치 제어

Position Control of DC Motor Using the Sliding Mode Control with Distur bance Ovserver

A novel sliding mode control with disturbance observer for position control of DC servo motor is presented. The conventional sliding mode controller changes the control structure depending on the state of switching surface and consequently, the control law is discontinuous and theoretically chatters at an infinite frequency. To overcome this problem in view of the practical implementation, the disturbance observer is used to compensate the effects of the parameter variations and the load disturvances. We can obtain the performance predetermined by the switching surface with continuous control law while the controlled system remains robust. The performance of the proposed controller with that of the conventional sliding mode controller through digital computer simulation and experiment.