Discrete-Time Sliding Mode Repetitive Control for Servo Motor Systems

This article proposes a novel discrete-time sliding mode repetitive control (SMRC) for high-precision position tracking in servo motor systems. By integrating the principles of repetitive control (RC) with the robustness of sliding mode control (SMC), this method effectively manages uncertainties and disturbances, thus enhancing stability and tracking accuracy. The approach leverages the robust features of SMC to stabilize the system while utilizing RC to precisely track periodic references and mitigate external disturbances. Through rigorous analytical and simulation studies, the proposed controller demonstrates superior stability and robustness compared to conventional and filtered RC methods. Furthermore, this SMRC framework shows significant potential in augmenting the reliability and accuracy of complex discrete control systems. The effectiveness and advancement of the proposed method are substantiated through experimental tests conducted on a Quanser motor servo system, alongside comparisons with three existing control methods.