Research Article
Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems
Figure 3
Verification results when rpm.
(a) and |
(b) |
(c) Characteristic model output |
(d) Error between dynamic model output and smoothed dynamic model output |
(e) Error between smoothed dynamic model output and characteristic model output |
(f) Error between dynamic model output and characteristic model output |