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Title: On the sliding mode control for DC servo mechanisms in the presence of unmodeled dynamics
Authors: Xu, J.-X. 
Lee, T.-H. 
Pan, Y.-J.
Keywords: Describing function
Limit cycle
Sliding mode control
Smoothing control
Unmodeled dynamics
Issue Date: Sep-2003
Citation: Xu, J.-X., Lee, T.-H., Pan, Y.-J. (2003-09). On the sliding mode control for DC servo mechanisms in the presence of unmodeled dynamics. Mechatronics 13 (7) : 755-770. ScholarBank@NUS Repository.
Abstract: In this paper, via describing function techniques, sliding mode control of DC servo mechanisms is analyzed in the presence of unmodeled dynamics. We first show that, a conventional sliding mode controller with signum function will inevitably generate a limit cycle where a second or higher order unmodeled dynamics exists. A fractional interpolation based smoothing scheme is then proposed to eliminate the limit cycle, and maintain a reasonable tracking precision bound. In particular, a DC servo motor with unmodeled stator and sensor dynamics is taken into consideration. Both theoretical analysis and simulation results verify the effectiveness of the proposed new fractional interpolation control scheme. © 2002 Elsevier Science Ltd. All rights reserved.
Source Title: Mechatronics
ISSN: 09574158
DOI: 10.1016/S0957-4158(02)00062-4
Appears in Collections:Staff Publications

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