Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td align="left">Name</td><td align="center">System constitution</td><td align="center">Inertia ratio</td><td align="center">Load torque</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="left">Case  1</td><td align="center">Single motor drives two reducers</td><td align="center">2.68 : 1</td><td align="center">4 N·m</td></tr><tr><td align="center" colspan="4"><hr/></td></tr><tr><td align="left">Case  2</td><td align="center">Single motor drives four reducers</td><td align="center">5.36 : 1</td><td align="center">8 N·m</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Journal of Control Science and Engineering

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Table 3

Table 3: Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems 