Nonlinear decoupled control for multi-motors web winding system using the sliding-mode technique

In this paper a nonlinear decoupled control is designed for multi-motors Web winding system. At the first, an ideal feedback linearization control system is adopted in order to decouple the tensions and velocity of the Web winding system. Then to enhance the performance of the control system in the present of uncertainties, such as electrical and mechanical parameter variation, external disturbance and unmodelled system dynamics, a sliding-mode feedback linearization control system is applied, that comprises a sliding-mode (SM) velocity controller and two SM tension controllers. Finally, the effectiveness and capability of the proposed control strategy is verified by computer simulation.