A robust feedback linearizing approach for the precise control of direct drive systems

The main contribution of this study is the development and implementation of a feedback linearizing controller with a chattering free sliding mode based outer loop for the precision control of a direct drive system. The system consists of a permanent magnet synchronous motor driven single link arm, with a DSP32 based motion controller unit. The problem entails the compensation of torque pulsations beside the load and parameter variations for set point tracking control. The experimental results indicate the expected accuracy and robustness due to the inclusion of the simple outer loop and the compensation of the effects of torque ripple on which, generally, no a priori information is offered