The selection of the switching logic and the control for PWM three phase switching power converters (inverters and rectifiers) is presented. The approach is based on the deliberate introduction of the sliding mode motion in the control system. The structure of the switching matrix for PWM three phase inverters and three phase rectifiers is the same, so the same structure of the sliding mode controller can be used and the same switching strategy is obtained for both PWM inverters and rectifiers.<<ETX>>

A sliding mode control (SMC) of DC and AC electrical machines is presented. The cascade structure of the controller is selected with sliding mode in the inner loop. The outer loop is aimed to derive a reference current such that the controlled machine exhibits the desired transients. Position and speed control are discussed. The estimation of the switching function from the position (or speed) and control input is presented. The results of the simulation and the tests are presented.<<ETX>>

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.

A new control strategy of instantaneous reactive power compensation is presented in this paper. The approach is based on the PWM switching technique in the rotating d-q reference coordinate frame for a three phase AC-DC power converter and on the introduction of sliding mode motion into the control system. This study is valid for steady and transient states in three phase systems. The principle control strategy, the PWM switching pattern, and simulation results are presented.<<ETX>>

The selection of the switching logic for PWM three phase switching power converters (inverters and rectifiers) is presented. The approach is based on the deliberate introduction of sliding mode motion into the control system. Because the structure of the switching matrix for PWM three phase inverters and three phase rectifiers is the same, it is shown that the same structure of sliding mode controller can be used and the same switching strategy result for both PWM inverters and rectifiers.<<ETX>>

The vibration control of a flexible joint based on the sliding mode control approach is presented. Two solutions are discussed. First, a solution using lumped parameters is described. The second solution is in the framework of distributed parameter systems. In both cases the control system has a cascade structure with an inner loop designed to track the reference value of the actuator's shaft position and an outer loop to compute the reference of the motor shaft position in such a way that the position of the flexible joint satisfies the prescribed dynamics. The results of the simulation and tests are presented.<<ETX>>

The selection of the switching logic for three-phase switching power converters (inverters and rectifiers) is presented. The approach is based on the deliberate introduction of sliding mode motion in the control system. It is shown that the same structure of the sliding mode controller can be used and the result is the same switching strategy for both pulse width modulation inverters and rectifiers. Simulation results are presented.<<ETX>>

The application of sliding modes in robotic manipulator motion control is presented in this paper. The structure of the control system is intentionally selected to resemble 011 the cascade systems in order to apply digital signal processiiig for iniplementatioii into the Variable Structure Systems (VSSf with sliding modes. First the mathematical description of robotic manipulators powered by electrical machines is derived in a form suitable for sliding modes application. Then equations of motion under a sliding mode are derived and the selection of the outer loop controller is presented. The following problems are discussed: the selection of the switching functions in a form that allows the clear separation on the fast and slow motioii of the system; the design of a cascade VSS with an inner current loop and the influence of paranieters uncertainties on the system motion. The proposed algorithms are verified by. simulation and experiments. Both siniulation and experimental resul ts are presented.

A unified algorithm for the synthesis of both AC induction and AC synchronous motor control is presented. A brief analysis reveals that vector control with sliding mode is a suitable choice for the problem: vector control is necessary to provide an independent influence on the electromagnetic and mechanical part of the AC machines, while the sliding mode is the natural regime for any switching converter fed motor. The achieved control structure of the system is very simple and can be easily engineered. Robot and effector position control can be decomposed into coupled scalar problems. The designed AC motor control system can then be applied to each degree of freedom. Exhaustive computer simulation confirmed the proposed approach.<<ETX>>