Hierarchical intelligent sliding mode control: application to stepper motors

A method of robust control based on sliding mode and fuzzy logic techniques is presented. It combines hierarchical high gain control with fuzzy logic to design a discontinuous control for nonlinear multivariable systems in order to eliminate chattering in presence of disturbances. The proposed approach is then used to design a robust controller for a stepper motor. Simulation results are presented to illustrate the applicability of the approach.