Improved design of VSS controller for a linear belt-driven servomechanism

The paper deals with position tracking control for a linear belt-driven servomechanism. It utilizes VSS theory for control design. The selected sliding manifold was extended in order to involve also non-rigid modes of the elastical servodrive. However, the proposed controller is simple and practical for implementation. The experiments presented in the paper show that the proposed control scheme effectively suppresses vibrations and furthermore extends the closed-loop bandwidth.