| Abstract |
In the paper the general approach to motion control
systems in the sliding mode framework is discussed in details. It
has been shown that, due to the fact that a motion control
system with n d.o.f may be mathematically formulated in a
unique way as a system composed on n 2 d.o.f systems, design of
such a system may be formulated in a unique way as a
requirement that the generalized coordinates must satisfy
certain algebraic constrain. Such a formulation leads naturally
to sliding mode methods to be applied where sliding mode
manifolds are selected to coincide with desired constraints on
the generalized coordinates. In addition to the above problem
the design of full observer for IM based drive is discussed. |
