Adaptive Quasi-Sliding Mode Control for Permanent Magnet DC Motor

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="693685.fig.002a" src="https://static.hindawi.com/articles/mpe/volume-2013/693685/figures/693685.fig.002a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b> Centered PWM</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="693685.fig.002b" src="https://static.hindawi.com/articles/mpe/volume-2013/693685/figures/693685.fig.002b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Piece-wise linear function <svg height="14.675" id="M56" style="vertical-align:-5.56921pt" version="1.1" viewbox="0 0 24.4125 14.675" width="24.4125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<table>Schemes of the PWM and the quasi-sliding surface.</table>

Mathematical Problems in Engineering

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Figure 2

Figure 2: Adaptive Quasi-Sliding Mode Control for Permanent Magnet DC Motor 