A novel motor drive design for incremental motion system via sliding-mode control method

This paper proposes a particular motor position control drive design via a novel sliding-mode controller. The newly designed controller is especially suitable for the motor incremental motion control which is specified by a trapezoidal velocity profile. The novel sliding-mode controller is designed in accordance with the trapezoidal velocity profile to guarantee the desired performance. A motor control system associated PC-based incremental motion controller with permanent-magnet synchronous motor is built to verify the control effect. The validity of the novel incremental motion controller with sliding-mode control method is demonstrated by simulation and experimental results.