Sliding mode tracking controller for a non-linear single link-DC motor system: An input output approach

Abstract

This article presents an input-output approach to sliding mode control (SMC) using integral reconstructors for the sliding surface specification in trajectory tracking tasks associated with a full non-linear link-DC motor system. These integral reconstructors are based on input errors, output tracking errors, and linear combinations of iterated integrals of input and output errors. The approach circumvents the traditional need for state measurements, or state estimations via asymptotic observers, in the sliding surface synthesis. The main assumption is that the available output signal coincides with the systems flat output. An experimental platform was developed to assess the performance of the proposed controller in a rest-to-rest trajectory tracking problem.