Optimal second order sliding mode control of Servomotor Positioning System

In this paper an optimal second order sliding mode controller of Servomotor Positioning System in presence ofuncertainties is proposed. The linear quadratic regulator (LQR) control has been efficiently applied to certain systems asan optimal control. Challenges to apply LQR to optimal control of mentioned system are resolved by using slidingmode controller. At first a linear model of Servomotor Positioning System with lumped uncertainty is introduced andthe optimal controller based on the LQR method is designed for the nominal system. An integral sliding mode controlleris added to LQR to ensure robustness of the Servomotor Positioning System in presence of uncertainties. Simulationresults verify effectiveness of the proposed control approach.

کلیدواژه ها:

Servomotor Positioning System ، linear quadratic regulator ، sliding mode controller ، uncertainties