Sliding mode based repetitive control for parameter uncertainty of a brushless DC servo motor

摘要

A sliding-mode based repetitive control (SMRC) is presented in this paper to improve tracking periodic reference, rejecting disturbance, and adapting parameter uncertainty such as mass or viscous friction variation. The design method is simple with reduced order algorithm. The stability analysis is conducted, and the design conditions are derived for a stable system. Then, the proposed algorithm is simulated in MATLAB Simulink with different loading conditions. The comparison studies are conducted to demonstrate the effectiveness of the SMRC.