Tracking control of DC motors via an improved chattering alleviation control

An improved version of the chattering alleviation control (CAC) augmented with boundary layers is proposed. It preserves all the features of CAC and exhibits three additional advantageous properties. First, the resultant control law is continuous instead of the discontinuous function proposed in CAC. Second, the chattering level is smaller than that of CAC. Third, the parameters in the boundary layer approach can be determined quantitatively via this algorithm. The resultant system via this nonlinear feedback control law is proved to be asymptotically stable, which is then applied to the tracking control of DC motors. Experimental results indicate that the high-speed tracking of the desired trajectory can be achieved. In addition, the applied armature voltage contains fewer higher frequency components as compared to other variable structure systems control