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

Table 1

Parameters of the motor (B-402-B).

Name	Units	Value
Rated power	kW	2.2
Rated speed	RPM	3000
Rated torque	N·m	7.4
Inertia	Kg·m^2	0.000323
Static friction	N·m	0.24
Viscous friction	N·m/kRPM	0.015