This paper presents a robust, discrete, near time-optimal control algorithm for hard disk drives. Building on the continuous-time control law of Newman [Trans. Automatic Control 35 (7) (1990) 841] and Newman and Souccar [J. Dynamic Syst. Measure. Control 113 (1991) 363], the chattering phenomenon for continuous-time systems is first examined, and it is shown how additional chattering can occur ...

In this paper, a few chattering-free Sliding Mode Controllers (SMC) are proposed to stabilize an Active Magnetic Bearing (AMB) system with gyroscopic effect that is proportional to the rotor speed. The improved switching terms of the controller inherited from the saturation-type function and boundary layer control technique is shown to be able to achieve bounded and asymptotic stability, respec...

Chattering and repeating alarms, which repeatedly make transitions between alarm and non-alarm states without operators’ response, are the most common form of nuisance alarms encountered in industrial plants. The paper formulates two novel rules to detect chattering alarms caused by random noise and repeating alarms by regular patterns such as oscillation, and proposes an online method to effec...

The control of clamping force has a significant influence on the braking performance low-floor trams. However, load torque variations, strong nonlinearity and complex structure electromechanical brake (EMB) systems present challenging issues. In this paper, an EMB system mathematical model is established. Then, enhanced sliding-mode reaching law (ESMRL) investigated to address these addition, n...

An Integral Sliding Mode (ISM) based robustified Linear Parameter Varying (LPV) control is presented for a laboratory scale ball on beam balancer system. The inherent input channel nonlinearity and under-actuated coupled dynamics make it challenging problem. ISM control, being famous reaching phase elimination, operates under the action of which usually an algebraic sum continuous discontinuous...

Variable structure control with sliding mode can provide fine control performance and robustness. However, chattering phenomenon introduced due to discontinuous switching gain limits their applications. To achieve precise tracking performance with reduced chattering effect, fuzzy sliding mode control is introduced and evolutionary simultaneous tuning of control parameters is employed. Novel evo...

Abstract: Problem statement: A brushless DC servomotor position control system using a fuzzy logic sliding mode model following controller or FLSMFC is presented. Approach: The FLSMFC structure consists of an integrator and variable structure system. Results: The integrator ensures the elimination of steady state error due to step and ramp command inputs, while the fuzzy control would maintain ...

Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as norm-bounded nonlinearities and external disturbances. A sufficient condition for the robust stability of the sliding manifold is derived by means of linear matrix inequalities. The initial existence of the sliding mode is guarantee...