Experiments toward chattering-alleviated discretized variable structure controller design of a brushless DC servo system

A novel sliding mode control scheme is presented in this paper. Among most sliding mode control schemes reported up to date, chatter is inevitable due to non-ideal switching control activity. Here, an implicit sliding mode control (ISMC) scheme, in which the switching hyperplane has been moved to the /spl sigma/-space for chattering alleviation is presented. Experimental validation is performed by implementing the scheme on a high speed digital signal processor (DSP) to control a DC brushless servo system under varying inertia (ranging from 0.00006374 kgm/sup 2/ to 0.000338 kgm/sup 2/). From experimental results, it can be seen that the proposed scheme shows significant robustness but with less chatter as compared to the conventional sliding mode controller design.<
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