Variable structure control with integral action

• J. Ramirez Universidad del Zulia-Venezuela
• J. Bastidas Universidad del Zulia-Venezuela
• C. Vinante Universidad del Zulia-Venezuela

Palabras clave: position control, variable structure control, non linear control

Resumen

Variable structure system control is a rapidly developing no-linear controller design method. It provides attractive features such as fast response and insensitivity to variation in plant parameters. In this work a new reaching law with constant plus integral rate is used to design a variable structure con trolled. This controller was experimentally tested in the digital position control of a DC servomotor. The addition of integral rate to the reaching law. with the proper selection of its parameters. improves the tracking accuracy and the robustness of the variable structure controller.