Optimal positioning control of a DC servo motor using sliding mode

This work has presented a novel methodology that is applied to control the position of a DC servomotor. The design is composed of the optimal linear quadratic regulator (LQR) and the sliding mode control. The control strategy is realized through the digital signal processor (DSP). Moreover, the proposed technique is compared with LQR and sliding mode control, respectively. Both the simulation and experimental results demonstrate that the proposed design possesses the optimal performance and robustness against model uncertainty and external disturbance.