Model following control with a sliding mode adjustment for a positioning system

In this paper, we propose an efficient control method with a sliding mode technique to realize a high-precision and a high-speed positioning control. This method makes a response of a real system follows the reference precisely even under the condition that the modeling errors exist between the numerical feed forward model and the real system. A model following control is used to generally recognize as a high performance positioning. But, ordinary there are several modeling errors existing between the numerical model and the real system. We pick up a mass error and a dynamical friction error. In this proposal method, we assign two places non-linear gains. One non-linear gain is the gain of the velocity reference from the feed forward part and the other is the gain of the force reference. As we use this method, a feed forward loop and a feed back loop are not changed. So, this method has no influence on the stability. In this proposal method, the gains are decided with a phase plane of a sliding mode control.