Integral Sliding Mode Control of DC Servo-Driven Conveyor System

Abstract

DC servo systems which are utilized in many industries require efficient and robust control strategies for achieving specific duties accurately. An integral sliding mode control (ISMC) is designed for position control of DC servo-driven conveyor system in this work. The ISMC which maintains the robustness, linearization and systematic design procedure of the conventional sliding modes is aimed to solve robust position control problem under load uncertainties. Performance and robustness of the ISMC are compared with the PID controller. Numerical and experimental results are presented to demonstrate the validity, feasibility and effectiveness of the designed control technique.