Backstepping integral sliding mode control of an electromechanical system

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AUTOMATIKA, cilt.58, ss.266-272, 2017 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 58 Konu: 3
  • Basım Tarihi: 2017
  • Doi Numarası: 10.1080/00051144.2018.1426263
  • Dergi Adı: AUTOMATIKA
  • Sayfa Sayıları: ss.266-272


The aim of this paper is to design a backstepping integral sliding mode controller (BISMC) for speed control of an electromechanical system under uncertainties and disturbances. An integral dynamic is included in traditional sliding surface to improve chattering and steadystate error in tracking a reference signal when parametric uncertainties and disturbances exist. Design and stability of the closed-loop system is realized by Lyapunov criterion in a step by step procedure. Experimental results of the proposed BISMC are compared with those of the traditional sliding mode controller (SMC). The proposed BISMC achieves reasonable tracking performance and exhibits more robust performance concerning parametric uncertainties and disturbances than the traditional SMC.