Internet Based Control of a Servo Motor with a Sliding Mode Based Observer for Chattering Reduction

This conference paper presents the sliding mode control of an Internet-based servo motor. The servo motor is equipped with an incremental encoder and the speed signal is obtained by digital derivation. Derivation is known to highlight noises. The state trajectory calculated from the noisy signal cannot remain on the sliding surface. Noise filtering introduces an unmodeled dynamics into the system. Due to this unmodeled dynamics, the state trajectory oscillates around the sliding surface. To reduce these oscillations, the article proposes an observer-based sliding mode controller. The article compares the classic and observer-based sliding mode controls by experimental measurement. The aim of the Internet-based servo motor to allow the students to reach the system, from their own computer via the internet, and to make the measurements from home. To do that they only need to know the basics of programming. With this servo system, the capacity of the measurement is increased. The students can use the system any time of the day.