A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering
Figure 4
The simulated results for system with load and parameter uncertainties. (a) The position response, (b) the speed response, (c) the motor driver input, (d) the multisegment SMC controller output, (e) the perturbation observer output, and (f) the estimation of acceleration.
