Application of sliding mode control with a low pass filter to the constantly rotating slider-crank mechanisms

摘要

In this paper, a novel sliding mode controller is designed to track periodic refer- ence signal and reject periodic disturbance for the periodically rotating mechanisms. The novel sliding mode controller includes an integral compensator and a low pass filter to reduce the chattering phenomena and the accumulated periodic errors of the periodic motion. The sliding condition for the control system is derived in detail.