Reaching Law Control for DC Motor Discrete Time Speed Control System

Reaching law control (RLC) is an approach to sliding mode control (SMC) design which is widely applied in the presence of model uncertainties, parameter fluctuations and external disturbances now. This paper proposes a RLC method using in DC motor discrete time speed control system and discusses the implementation problems and the robustness of the control approach in details. Since the discrete time analysis and design is more appropriate for the real applications, the design equations of RLC are derived in the discrete time. This design not only simplified the solution for SMC, but also provided a measure for the reduction of a high frequency oscillation about the desired equilibrium point. Simulation and experimental results demonstrate the effectiveness of this method, particularly for DC motor discrete time speed control system.