Tracking and robust performance of discrete-time model-based controller

Both tracking and robust performance are important issues in control engineering. Tracking performance represents how precise the actuator can follow the reference, while robust performance shows how far the actuator can function properly when plant uncertainty and disturbance appear. This works assess both tracking and robust performance of two popular control algorithms i.e Sliding Mode Control (SMC) and Repetitive Control (RC). A simulation on dc servo motor is performed to assess the performance of SMC and RC. The transient response, tracking accuracy, and robustness are thoroughly discussed in this paper.