Discrete-Time Sliding Mode Control with Disturbance Observer Compensation for Electromechanical Servo

This paper studies a strong disturbance rejection control strategy for electromechanical servo systems. Design a disturbance observer integrated into a discrete sliding mode closed-loop controller to improve disturbance resistance performance. Simulation results show that the disturbance observer compensation-based discrete-time SMC can improve the dynamic performance of the servo system, reduce steady-state error, and achieve accurate tracking of the position command value.