A new design of servomechanisms with digital sliding mode

A new control algorithm based on Golo's approach (Systems & Control Letters 41(2000)), for high-precision servomechanism synthesis, is offered in this paper. In the proposed algorithm, an additional integral action, activated at the predefined system state, is introduced. Servomechanisms with the proposed control and by introducing a compensation of disturbance caused by reference derivative, are capable to track cubic references. Theoretically investigated features of the proposed control are verified by simulations and experiments on a servomechanism with DC motor.