34. Robust Control for Electric Servo System Based on Sliding Mode Disturbance Observer

This chapter proposes a sliding mode disturbance observer (SMDOB) to deal with the uncertain factors, including modeling errors, parameter perturbations and external interferences faced by the electric servo system control. Then, a proportional integral derivative (PID) angular position tracker is designed to achieve the function of angular position-tracking performance of electric servo system. Thus, the SMDOB and PID tracker form the robust compound control framework of the electric servo system. The computer simulation results indicate that, compared with the traditional PID control scheme, the control scheme proposed in this chapter can ensure the electric servo system to have higher precision of position tracking and stronger robustness against the unknown and time-varying uncertain dynamics in system.