Optimal sliding mode variable structure control for load simulator

A new method of the optimal sliding mode variable structure control is presented to eliminate the extraneous torque in the load simulator. The mathematical model of the load simulator is enlarged by incorporating the torque reference input with integral action. By proper state transformation, the construction of the optimal sliding surface equals to the design of the feedback matrix in the linear quadratic problem. For smoothing tracking, the exponential approaching law is selected to accelerate the process of reaching the sliding surface. The stability of the load simulator is proved with the variable structure control law constructed. The simulation results indicate the effectiveness of the control method for the load simulator. The extraneous torque can be reduced greatly, and the load simulator can get high tracking performance.