Performance Optimization Methodology for Discrete-Time Sliding Mode Control in Industrial Servo Systems Under Control Input Saturation and Disturbance

Abstract

Abstract This paper presents a performance optimization methodology for the discrete-time sliding mode control (SMC) with the decoupled disturbance compensator (DDC) and the auxiliary state (AS) for an industrial position control system under control input saturation and disturbance. The discrete-time SMC with DDC and AS (SDA) method prevents windup phenomena in the switching function and the disturbance estimation error. Therefore, it provides robust performance under control input saturation, disturbances, as well as parametric uncertainties. However, it is difficult to relate several design parameters to the desired performance. In this paper, a systematical design framework for the discrete-time SDA method is developed. Based on the phase portrait of the error state, the error can be made to converge to zero with a fast speed and less oscillation under control input saturation by an offline tuning process. An optimization process is performed in terms of the peak value of the control input. Both numerical simulations and experimental results show the effectiveness of the developed tuning methodology for the discrete-time SDA method.