engleski

Experimental Results of Trajectory Tracking System with SMC Technique under Sinusoidal and Step Load Disturbance

Practical design of a sliding mode control (SMC) in tracking systems with trajectory generation is presented. Sliding mode controller, based on balance condition, is designed under load disturbance and variable inertia drive. The results are compared for control function smoothed in constant and variable boundary layer. Laboratory setup for experimental verification consists of host system (based on MC 68332) and two drive controllers with mechanically coupled synchronous motor permanent magnet (SMPM), where one motor is load for another one.

trajectory tracking system; sliding mode

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