Disturbance observer with binary control theory

This paper is concerned with the chattering reduction of sliding mode control using a disturbance observer based on binary control theory. One of the main causes of chattering is due to the existence of the discontinuous dither term to ensure the robustness with respect to external disturbance. However, the small gain to reduce the chattering causes the robustness to be degraded. In this paper, a disturbance observer based on binary control theory is proposed, and an algorithm which substitutes the discontinuous term with the feedforward compensation using the proposed observer is applied. The validity and the estimation performance of the proposed observer are confirmed through the position control of a permanent magnet synchronous motor