Sliding mode control system design using parallel feedforward compensator

In this paper, the design method of sliding mode control (SMC) system for single-input single-output (SISO) linear system is discussed. First, we consider the similarity between the design method of sliding mode hyper plane using the strict positive realness and the characteristics of zeros of feedback system and the design method of simple adaptive control. Based on such a consideration, we propose the new design method of SMC system using parallel dynamic compensator. As a result, SMC system can be constructed only with the derivative of output signal for controlled plant. Furthermore, the sliding mode servo control (SMSC) system design based on proposed scheme is also discussed. The performance of proposed SMC system and SMSC system are confirmed through the experiments and numerical example, respectively.