Robust speed and force control of electrical drives using self-adjusting sliding mode

In this paper the development of a self-adjusting, robust sliding mode controller in combination with a nominal-feedback feedforward-control is presented. The proposed control-scheme is applied to two different tasks: the speed control of a Permanent-Magnet-DC-drive with input-dependent parameters and the load-control of a Permanent-Magnet Synchronous Machine. In both cases the validity of the proposed scheme is proved as well by MATLAB simulations as well as by measurements on the real plants.