Sliding modes in power converters and motion control systems
The VSS approach to the design of a control for power converters and motion control systems is presented in this paper. The structure of the control system is intentionally selected to resemble the cascade systems in order to apply the digital signal processing for implementation into the Variable Structure Systems (VSS) with sliding modes. First, the mathematical description of the power converters and robotic manipulators with electrical machines are derived in the form suitable for analysis. Then, the following problems are discussed: selection of the switching functions in the form that allows clear separation of the fast and slow motions of the system: design of cascade VSS with inner current loop and the influence of parameter uncertainties on the system motion. Proposed algorithms are verified by simulation and experiments. Simulation and experimental results are presented.