Time-delay sliding mode control for a servo

Summary form only given. Time delay control (TDC) is a method using the past time delay terms to eliminate the current unknown dynamics and disturbance. Sliding mode control (SMC) uses discontinuous control inputs to be insensitive to parameter variations and disturbance. We propose modifications to TDC by adopting integral SMC which guarantees the robustness, and which decreases chattering. This algorithm is implemented to control positions of a DC servo motor with a seal installed at its main axis, which produces stick-slip friction.