In this chapter the sliding mode design method and its application to motion control systems are discussed. The general solution for motion control systems with generalised forces or torques as control inputs is derived and its application to the tuning-belt servosystem as an illustrative example is shown. In this framework the dynamics of the subsystem that generates generalised force is neglected and the force control system is assumed ideal in the sense that it perfectly tracks reference values. The realisation of the control input in both a continuous time and discrete-time framework is discussed. IM induction machine motion control and state estimation is discussed with the aim to show the validity of the SMC approach in cases where the dynamics of the torque/force generation is taken into account. It was shown that the same motion dynamics as attained in the previous case could be achieved here too. The design of the IM rotor flux and velocity observer is discussed in the last part of the chapter. The usefulness of the SMC approach is demonstrated in this case too.

Inspec keywords: machine control; motion control; belts; force control; rotors; torque control; servomechanisms; variable structure systems; control system synthesis; observers; asynchronous machines

Other keywords: motion dynamics; velocity observer; force control system; state estimation; torque generation; sliding mode design method; force generation; discrete-time framework; IM rotor flux; induction machine motion control systems; tuning-belt servosystem

Subjects: Asynchronous machines