Sliding mode based disturbance observer for motion control

Peter Korondi, David Young, Hideki Hashimoto

Research output: Contribution to journalConference article

16 Citations (Scopus)


The main contribution of this paper is a sliding mode based design of a discontinuous disturbance observer used in feedback compensation of parameter uncertainties and exogenous disturbances. The experimental system is a DSP controlled single-degree-of-freedom motion control system, it consists of a conventional DC servo motor with harmonic gear and encoder feedback. The inertia load is coupled by a relatively rigid shaft. With the help of the proposed disturbance compensation, the servo system is forced to track a reference model. The relatively big parameter perturbation, external disturbance and friction are estimated and compensated. Experimental results are presented.

Original languageEnglish
Pages (from-to)1926-1927
Number of pages2
JournalProceedings of the IEEE Conference on Decision and Control
Publication statusPublished - Dec 1 1998
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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