Sliding mode based disturbance observer for motion control

The main contribution of the paper is a sliding mode based design of a discontinuous disturbance observer used in feedback compensation of parameter uncertainties and exogenous disturbances. The experimental system is a DSP controlled single-degree-of-freedom motion control system, it consists of a conventional DC servo motor with harmonic gear and encoder feedback. The inertia load is coupled by a relatively rigid shaft. With the help of the proposed disturbance compensation, the servo system is forced to track a reference model. The relatively big parameter perturbation, external disturbance and friction are estimated and compensated. Experimental results are presented