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This paper proposes a generalized design procedure for the extended state observer-based sliding mode control for multi-input multi-output linear systems with multiple disturbances (matched and/or mismatched) using an extended state observer. First, the system is transferred to a regular form to decouple the states having matched and mismatched uncertainties; then, a novel sliding surface is designed...
This paper proposes an extended state observer based sliding mode controller for the speed control of permanent magnet DC motor. The state space model of the system is simplified using a linear state transformation and input transformation to design a linear extended state observer which estimates the system states and the disturbances. Then, a sliding surface is designed which includes the estimated...
This paper presents a disturbance observer based adaptive sliding mode controller. The switching gain of the controller is adjusted based on the estimated value of the disturbances to avoid high amplitude chattering. The main idea here is to consider the unknown disturbances in sliding function dynamics which results in a simple linear observer. The proposed technique is then applied to a single machine...
We propose a higher order sliding mode control scheme to regulate the speed of a permanent magnet DC motor. The controller is designed based on the linear model of the motor with the motor driver circuit. The aim of the controller is to regulate the speed of the motor around the desired value while achieving a stable second order error dynamics in finite time. The proposed controller is validated...
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