Model Following Control with A Sliding Mode Adjustment for A Positioning System

A model based control is known well as an efficient method for the positioning control of mechanical systems. So, the model following control is used to generally recognize as a high performance positioning. But, ordinary there are several modeling errors existing between a numerical model and a real system. These modeling errors are the major factor which makes the degradation of the positioning performance. In this paper, we propose an efficient control method with a sliding mode technique. The proposal method makes the response of the real system follows the model precisely even if the modeling errors exist in the moment of inertia