Second-order sliding-mode control of DC drives

One of the most recent topics in variable-structure systems theory is represented by the second-order sliding-mode control (2-SMC) methodology. This approach guarantees the same robustness and dynamic performance of traditional first-order SMC algorithms, and, at the same time, attenuates the chattering phenomenon, which is the main drawback in the actual implementation of this technique. In the present paper, a recently-proposed 2-SMC algorithm is used to synthesize a robust de-drive control system which does not require current feedback and demands only rough information about the actual motor parameters. Stability and performance are analyzed, and an experimental comparison with a proportional-integral-based control scheme is reported.