Design and experimental evaluation of a 3-mass speed control system with a hybrid structure of sliding mode controller and CMAC

This paper deals with a design scheme of the speed control for a 3-mass system, which has a hybrid structure of a sliding mode controller and a cerebellar model articulation controller (CMAC). The nonlinear control part in the sliding mode controller is firstly designed, and then a real-coded genetic algorithm is utilized to optimize the output from the sliding mode controller. The CMAC compensates the sliding mode controller so that the control performance is improved well. In this proposed scheme, the divergent property of the CMAC caused by a disturbance is fairly suppressed by effects of the nonlinear control part. The behavior of the newly proposed control scheme is experimentally examined in comparison with using only the sliding mode controller.