Control of Electromechanical Systems using Sliding Mode Techniques

This article proposes a sliding mode control for electromechanical systems, for instance a DC motor with an inverted pendulum as load is considered. In contrast to conventional cascade control structures not only the variables of the mechanical system but also the electrical variables are part of the control law and voltage is used as discontinuous control input. The new control approach offers better performance, minimial implementation complexity, provides robustness, and a decrease of power consumption. The performance of the presented approach is demonstrated via numerical simulations and a real experiment.