A model-following positioning control system based on modified sliding mode control

This study presents a model-following positioning control system based on modified sliding mode control. In the proposed method, a robust gain matrix prevents the dependence on the plant parameters by applying the switching function to an error dynamics equation. Simulation studies are applied to a nominal plant with stable and unstable terms, and a plant with a modeling error and an input-side disturbance. Simulation and experimental results indicate the effectiveness of this method in determining a robust gain matrix. The proposed method further demonstrates positioning control with superior performance.