Nonlinear sliding-mode control of a multi-motor web-winding system without tension sensor

A sliding-mode (SM) feedback linearisation control system is designed for a multi-motor web-winding system. First, an ideal feedback linearisation 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 presence of uncertainties, an SM feedback linearisation control system is applied, which consists of an SM velocity controller and two SM tension controllers; a decentralised version of the proposed controller is developed. Two tension observers are suggested to eliminate the need of load cells in a web-winding system. Finally, the effectiveness and capability of the proposed control strategy is verified by computer simulation.