Global robust sliding mode tracldng control for DC motors by exact linearization

The problem of designing global robust sliding mode controller is considered for position tracking of DC motors with nonlinearities. Fast, the exact linearization technique is used to transform the nonlinear system into a linear one, and then global robust sliding mode control strategy is adopted to solve the system uncertainty problems. The integral sliding surface can effectively remove reaching phase, and the designed control law guarantees the system global robustness despite of system uncertainties. The effectiveness of the proposed algorithm is illustrated through comparative simulation studies on the position tracking of DC motors under load variations. The suggested position control algorithm yields better performance than conventional sliding mode control strategies through numerical simulation results.