Microsoft Word - EPEPEMC_AsifSabanovic_A31199.DOC

In the paper the general approach to motion control systems in the sliding mode framework is discussed in details. It has been shown that, due to the fact that a motion control system with n d.o.f may be mathematically formulated in a unique way as a system composed on n 2 d.o.f systems, design of such a system may be formulated in a unique way as a requirement that the generalized coordinates must satisfy certain algebraic constrain. Such a formulation leads naturally to sliding mode methods to be applied where sliding mode manifolds are selected to coincide with desired constraints on the generalized coordinates. In addition to the above problem the design of full observer for IM based drive is discussed.