Robust servo-system based on two-degree-of-freedom control with sliding mode

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A robust servo-system, based on a combination of linear robust control and sliding mode control have been proposed. This new control system can be said to be a non-linear system (sliding mode control system) which has a inner loop of linear control (two-degree-of-freedom control). Due to this inner loop of linear control, a disturbance is strongly suppressed but not completely. Then, the outer loop of sliding mode control eliminates this disturbance suppression error. First in this paper, a linear robust-servo design of two-degree-of-freedom control system is shown. Next, a sliding mode control is applied to this system and the disturbance suppression characteristics are discussed. Then, through the simulations and experiments, it is proved that the introduction of non-linear control (sliding mode) drastically improves the disturbance suppression characteristics of a linear system (two-degree-of-freedom control).

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