Sliding mode framework in motion control what it offers?

In this paper general approach to motion control systems in the sliding mode framework is discussed in details. It is shown that, due to the fact that a motion control system with n d.o.f may be mathematically formulated in a unique way as a system composed of n second order systems, design of such a system may be formulated in a unique way as a requirement that the generalized coordinates must satisfy certain algebraic constraint. Such a formulation leads naturally to sliding mode framework to be applied in which sliding mode manifolds are selected to coincide with desired constraints on the generalized coordinates. Applications to robotics systems are discussed. As a comparison the experimental investigation of PZF microactuator is presented.